It's not easy and there is really no such thing as managing it all. My husband and I work full time and have 3 children ages 14, 10 and 2 1/2. The older two are very active in extra-curricular activities so that makes it even more of a challenge!
One question to ask is whether you both need to work. If yours or your husband's salary is all going towards child care, then likely you can live off of one paycheck. But even being a stay at home parent doesn't give you the time to manage everything because I think that is one of the hardest, most time-consuming . . . and MOST rewarding . . . jobs there is!
I usually do a full house cleaning every two weeks usually on Saturday, and it takes several hours (3,400 sq. ft., 3 full bathrooms, ugh!). During this time my husband is responsible for the 2 1/2 year old (the older kids can entertain themselves). This works for me because, like you, at the end of the day I am just too pooped to do any cleaning. I typically use that time to catch up on banking/bill paying, and sometimes to catch up on work. And perhaps actually watch a little TV or read a book . . . what a luxury!
I do my weekly grocery shopping on Sunday, usually late morning or early afternoon. Laundry gets done during the week, whatever days that we're actually home instead of running the kids to various activities.
You also need to learn to let go a little. This was very tough for me (still is!). I always want all the beds to be made, toys to be picked up, dishes washed, etc. But I've learned to turn a blind eye to some of this. That is not to say I don't get frustrated at times. The messier my house is, the crabbier I get! So a little maintenance in between major cleanings goes a long way to keeping my sanity.