I am going to make a different approach from the other posts. I was 36 when I had my first, 40 when I had my second. I waited 12 years and had 5 miscarriages before being blessed with my children.
I definitely agree discipline is very important. We travel in our business and are gone approximately 250 days a year. I have all the Dobson books and a few others. My children are very well behaved. As a matter of fact I have had people who stop me in restaurants, Disney World, hotels, libraries, etc. who compliment me on how well behaved they are. I am a Christian and I believe in discipline.
I have NEVER made mealtime a miserable time. I've had friends who have. Insisted their child eat a certain amount of food, not let them get down, insist on eating together at the table. I took a completely different view. When my children were small especially, we rarely ate together. I enjoyed feeding them, getting them bathed and ready for bed. My husband and I would then be able to eat a meal and visit without interruption after they went to bed. (When they were little they were in bed by 7:30). As they have gotten older (9 and almost 5) we eat together on a regular basis, but still not every night.
As far as eating out. Try kid friendly restaurants. I remember having to take my daughter out of Cheddars one time because it was taking so long to get our food. That's crazy to expect a child to wait, especially when they're hungry. Practice at places like CiCi's, Jason's, places where it doesn't take so long to be served. Remember this is only a short time in their lives.
I believe there is plenty of time to have "family dinners" when they are a little older. I believe it is important for the Mom & Dad to have time to connect as well. I also believe dinner time should never be BATTLE TIME!
We eat at restaurants now where it takes longer (and have been for several years now). Now my daughter's favorite is Ruby Tuesday's and Red Lobster. My son as well.
You have another one the way in short order. You need to do what works for YOUR family. God bless you in your adventure of parenthood!
Blessings to you!
L.