Every mom has had those kinds of concerns.
For the sleeping in the crib, try placing him in the crib for his naps, while you are awake. That way he can get used to it before nighttime. Also buy a monitor, with or without a tv screen. When he's in his crib, keep the monitor with you. They pick up EVERY little sound, and you will be able to hear and know when he needs you. You will even laugh when you awake to him babbling to himself :-)
As for taking him places, I'm not sure I understand the issue. When I had my kids in the infant carrier, I would always use the stroller, or placed the seat in the basket of the cart and pulled another cart behind me. I've mastered the art of pushing and pulling while shopping!
As always, you can call you OB dr and ask for a consult. You should also look and see if the local hospital has a new mom's group.That is what they are there for.
Good luck
M.