i had a couple thoughts, but i don't see an age listed so it would depend on that. first, i would not wake her or try to keep her awake. if you're concerned about how much sleep she's getting, call her pediatrician or look on some web sites ("web md" or "what to expect" are good ones)...the issue is how many hours total she is sleeping. that's what you want to look at.
the S. thought i had was, it sounds like you're really busy on a daily basis, and i'm sorry but i do not think that it's good for an infant to be drug all over town during the days. i don't know about "must put in crib", but i firmly believe in "the routine". the more predictable her routine is, the happier she'll be. she'll sleep better, which may mean she needs LESS sleep. make sense? maybe try to plan your errands for a time you know she'll be awake. the same time every day would be good for her. routine is really important.
the last thing i thought was, you're new at this. she's new at this. you need to find a routine that works for both of you, and it may take a few weeks. again i don't know how old she is, but for me, it was at least 4-5 months before i felt like i really "knew" what i was doing with my son - i'm pretty timid, especially in public, so it took me awhile to gain confidence in that area. and each phase they go through brings new things - that first year i felt like every few weeks i was getting to know my son over again. it's an amazing time but it can be overwhelming. there's a LOT we don't know the first time! don't be too hard on yourself, just do what works for you. any questions feel free to ask. good luck, you're doing fine :)