I can't claim to always balance work and family. I am surprised when I hear a working mom say, "I am a mom first." She has clearly figured out something I have not. Minute to minute, who I am changes.
I've learned that my role as a parent is changing. At work, I keep in mind the advice, "Know when to lead, when to follow, and when to get out of the way." This proves much harder and much more impactful in parenting.
Read parenting articles and blogs and take from them whatever you find helpful, be it a sense of community, a sense of normalcy, a reminder that no one is perfect, or maybe even that odd nugget of knowledge. Then, and this is the important part, ignore the rest.