The boys were almost 7 months old before I took them with me to run errands for the first time. I don't know why it took me so long to be comfortable taking them out in public. Initially, I was concerned about people touching them. Then I grew a spine and decided I would be okay with telling someone off if they touched my kids. Then I was concerned about getting them to the store and not being able to get the stroller/car seat combo hooked up. I practiced at home. It's not too difficult. Finally, I was afraid of them screaming and crying, drawing much unwanted attention to me while in a store. This one still scares me, but we survived our first trip without so much as a peep from the peanut gallery.
I was sitting at home one day, feeling dreadfully unproductive. I hate being unproductive. I made a list of things I needed to do the following weekend and then I realized I don't HAVE to wait until the weekend. Just pack the kids up, and go! Easier said than done, of course. It took me a full 25 minutes to do diaper changes, dressing in warmer clothing, buckling into car seats, getting everyone and the stroller into the car. That was exhausting.
Luckily I had decided to only go 2 quick places, just as a trial run. I only (insert sarcasm here) had 7 people ask if they were twins, 3 people ask if they were both boys and 1 little old lady say "bless your heart, dear." Not too bad. We'll call this trip a success. I also managed to get everything I needed to and get home just in time for nap time.
So the moral of the story here? If you're feeling cooped up and want to get out... do it! Don't be scared of public places with a baby. You may even get special treatment - like people opening doors for you. Lucky you, lucky you.