At home euthanasia-how do I prepare for it?

I have decided that at-home euthanasia will be easier and more peaceful for my Bebe. The ride to the vet’s office causes her a lot of anxiety, and she gets very scared. I don’t want her final moments to be filled with fear or stress.
I have never gone through at-home euthanasia before, and I honestly don’t know what to expect or how I should prepare for it.
For those of you who have been through this with your beloved pet, is there anything you did beforehand that helped make the experience more peaceful or comfortable? Is there anything you wish you had known or done differently?
Any suggestions or personal experiences would be deeply appreciated. ❤️