When I don't have DH to help me, here is what we do:
I put DS in his big basket right next to the tub with only a dipey on. After I have washed my hair and everything, I get him out of the basket, and we bathe. I have my towel within arm's reach, and right after I pick up DS to get in the tub, I pull his towel across his basket for when he gets out.
After he gets all fresh and clean, I place him on his towel and wrap him in it. Then, I get myself out, and wrap the towel around me. Then, I can pick him up to get ready for bed.
All the books say that you don't need to bathe Baby daily, and they are probably right. BUT, I think that it relaxes my baby (and me) so much that it is really well worth it! I usually put a drop of lavender essential oil in the bath, too!
And another tip: I know that some of you mamas practice elimination communication... we give DS the opportunity to pee pee and poop before and after a bath. Generally, he will pee pee right before or during bath (oh, well!), and afterwards, he very often has a poop. When we give him the chance to go before the bath, he never poops in there, which can be uberyucky.