2nd baby was born when my daughter was 2 3/4, almost 3. She was with the grandparents, and met the baby in our house when we came home from the hospital. She did come to the hospital with the grandparents, but was not allowed in because of swine flu season. My husband was able to go out and see her though, and show her pictures.
3rd baby, my girls were 6 and almost 4. Same deal, they came to the hospital but couldn't get beyond the waiting room. Actually the 4 year old came, the 6 year old was at school. The 4 year old met her brother when we brought him home. The 6 year old happened to be at Knotts Berry Farm that day with her cousin, so she met him when she came home that night at like 10 pm.
Both times, they wouldn't have come to the hospital at all, except the grandparents themselves wanted a quick visit and a chance to hold the baby.
Also, the first time, hubs pretty much stayed with me except to go home and shower. 2nd and 3rd times, I sent him home after the birth to be with the kids, and he only came back to "visit" me and to bring the baby home.
Now that I have done it a few times, I don't think the initial meeting is such a big deal. They have the whole rest of their life to live with the kid, right? Whatever you decide will be the right choice.