First off, congratulations! Parenting is definitely an experience that has its rewards.
In terms of preparation, the biggest thing you can do to prepare is give yourself as flexible a mindset as possible. Every child is different, and will come with their own set of challenges. Nobody will ever know your child better than you do, so examine advice from others and learn how best to apply it to your own child.
That being said, here's some more advice. Like I said, I can't tell you what's right for you ... these are my own observations.

1) Share the responsibility for the child with your wife
Be involved. It's not going to be easy, but the more you interact with your child, the easier your future interactions will be (in general). In addition, two live-in parents have a huge advantage over single parents. I could not imagine raising my child without the support of my wife, and she feels the same way about my support.
2) Really listen to your child
This is hard, I'm not going to lie. Right from birth, your child will be trying to communicate. Whatever ways you find that make the conversation between parent and child go both ways, cherish and build those skills. Expect frustrating false steps and outright miscommunications constantly, but the reward for the hard work is well worth it.
3) Take time for yourselves
This applies to both you and your wife. You'll hear a lot of parents talk about how everything in their lives became about their children once they were born, and that's because they require such dedication of your time and energy to raise. You will both need time for yourselves, as a couple and individually. My standard suggestion is for each parent to set aside dedicated time for a hobby (hey look: you can choose Go!

). When that time comes around, it's important for the other parent to take sole responsibility for the child during that time. This not only builds unique individual relationships with the child, but also helps prepare both parents should some emergency come up and one is not available. Try to make sure the child is comfortable regardless of which parent is around.
As for couple time, you'll eventually need to be able to step away from your roles as mom and dad to take time as husband and wife again. I personally believe the sooner you find that couple time, the better. This also leads into my next piece of advice ...
4) Socialize the child as soon as you can
Especially with so much interconnection and communication worldwide, I think children born today are going to need to develop their social skills to a level unheard of up until now in order to get along in the world. The more people you can reasonably expose your child to (while making sure they are comfortable and secure) will help them to interact in a highly interactive world.
An added factor here is to prepare parents for the reality that they can't be attached to their children 24x7. I know from personal experience that my child is never very far from my mind, and I had to get myself used to not having to take care of every aspect of my son's life, and also let him explore the world on his own terms, too.
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As you can probably tell, I have my opinions and I'm not afraid to share. My current situation: I have one 2 year old son who was born just before my 27th birthday. I have a second baby boy coming due in August. Not the most experienced, but I've recently gone through the slightly panicky time you're going through now.
As for advice before the birth, you're already following it: talk to people.
For my first child my wife and I had a party (in lieu of a baby shower so I and our male friends could partake). I said it then, and I'll say it again now: "It's not like I'm the first one ever to have a child." All sorts of people will be very happy to share experiences and ideas with you. Be open, listen well, and take what you believe will help you.
And again, Congrats!