OF COURSE IT'S STRESSFUL TO BE A PARENT!!!
It's the hardest damn job in the world. Not sure you can have balance though. You just need to have a dream, execute your plan, and fix what is broken at the time.
It's about priorities... Use tools to keep you scheduled and accountable. You'll be OK.
I try to capitalize on the times when the kid(s) are either asleep or doing something else and then make sure I'm available the times when we can be together as a family. I might hard stop work at 5 and then catch up on outstanding tasks really early in the morning or later at night.
I also work at home and make myself take a few breaks to help my wife out and say hi to my son. Helps me get a quick refresh.
Life is stressful, especially during the years that we are having children. Typically, we are still getting started in our careers, establishing rhythms with our spouses (if applicable), and trying to have some sort of personal life as well.
My children are currently 7 years old and 18 months old. I work a full-time job, and run another business on the side (only requires part-time). Additionally, I do some coaching and consulting, so to say that my plate is full is an understatement.
One of the most important things I have learned about balancing work/life is to determine the opportunities I have to make the most impact, both in my work, and with my family. Sorting through life thinking about the efforts that we make that provide the largest pay-offs can really help us to maximize our time with our children.
It can certainly be stressful having children, but it certainly doesn't have to. I would be happy to discuss this further if you'd like to schedule a phone call and I can help you think through your schedule and see if we can identify a better strategy and rhythm for your life.