When did you first take baby outside for walks?

Hello! First time mom, still pregnant. We're planning on getting strollers and the travel systems soon to make sure we have enough time to introduce our dog to the equipment and get her trained on walking near the stroller before we add the actual baby to the mix.

When did you first start taking the baby outside, say for a walk around the neighborhood? And did you find it necessary to use a bassinet stroller instead of say, a carrier or a wrap? I keep wondering if it'd make more sense to wear the baby so my hands are free. Also, our sidewalks aren't very wide so navigating a stroller plus our dog might be difficult.