Navigating Play Cafes

I’d love some advice on this as I’m very intimidated and psyching myself out. How do you go to a play cafe with a toddler and an infant? I’m about to become a SAHM and I have a 20 month old and 6 month old. I babywear often, but I don’t feel as though I could chase after my toddler while babywearing if needed. Would you put the infant in a stroller and keep her as close to you as possible while sticking close to the toddler? I’m new to these places and don’t fully understand the etiquette.

This same question goes for the park too! I want to take the kids out more by myself but I am really stuck in my head about how to do it.