Chiming in to say that I held my babies constantly during their infanthood. Constantly. They were either in the wrap or sleeping next to, with just breaks here and there for daddy time, being around hot water, etc. They're now 6 and 3 and are lovely, bright, independent children. And, also importantly, I can honestly look back on their babyhood with no regrets about how I parented them. It's a great feeling to have.
The other mamas who posted here are so right: go with your gut - that way you won't have any regrets either.