Should I have a baby?

So I am going to be 29 in July and have a very loving, supportive relationship with my husband. We have been together for over 5 years, married for 1. I think babies are REALLY cute and I definitely feel good when I am around them. However, I don’t know if I want one forever. I just don’t know. I used to think that I wanted kids and my husband is very certain that he would like to have one. I have nannied quite a bit in the past and I KNOW that children are a lot of work, which is why I am hesitant. What if I can’t “handle” the stress. I guess I am asking parents out there: Is all the blood, sweat and tears you put into parenting worth it? If you could go back would you change your mind about having kids? Help!