The helper will be under the supervision of your Dad and step Mom, instead of being alone with your baby. Sounds fine. I assume that the intention is to have the helper assist with chores such as washing up and cooking, with your parents focusing on caring for your baby.
That said, apart from caregiving conflicts, be mentally prepared that maid will be another source of conflict. To minimise that, ensure they are actively involved in the maid selection process, such that should they have complaints, they can't complain much because they were part of the decision makers.
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