There is no simple answer to this. Each and every individual is different. Most healthcare providers recommend waiting between 4-6 weeks after childbirth. Another important factor to take into account is when you stop bleeding.
Each mother heals at their own pace. If you've had complications or tearing, then you'll probably have to wait a little longer. The best thing to do is consult your doctor for advice on this.
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Intimacy and sex advice for new parents
Take it slow
No need to rush! Both of you need to understand this. For the mothers, give your body time to heal. Some women might also experience pain the first time they do it after childbirth. If this continues, then you should consult your doctor.
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Communicate with each other

Now, with a baby, you'll find that most of yours and your partner's time will be spent on your new bundle of joy, which is not a bad thing. However, it can take a toll on your relationship. Therefore, always communicate with your partner. This way you both won't feel neglected or rejected in any way.
You should also discuss your intimacy with each other so that there are no misunderstandings.
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Rebuild the spark in your relationship

For the mothers, your libido might have dropped drastically. However, there are things you can do to set the mood and keep the spark alive in your relationship so that it doesn't fall apart. Some physical interaction between you and your partner can help.
Such as cuddling, kissing, holding hands. You can also display other acts of physical affection such as massages, touching each other, etc.
Taking the small steps and displaying these little acts of affection will help with rebuilding your intimacy and sex life to what it once was before the arrival of your baby.
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Delegate duties

Usually, sex lives after a child decline due to partners being too tired. This is completely understandable and to prevent this, both of you need to split the responsibilities so that one party is not exhausted when it's time.
So, to do this, you can take turns to stay up with the baby during the nights, one partner does the cleaning, cooking, etc. Put a plan in place that suits both of you.
The reason for doing this is to create a balance. So that one partner isn't too tired when the time comes.
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Conclusion
Being a new parent is undoubtedly challenging. If you and your partner are struggling to keep your relationship on track after your child's birth.
You can read articles about relationships and parenting that professionals have written and see what others like you found helpful. You can also follow these topics so stay up-to-date on the latest.
If you and your partner feel that you could benefit from professional help, you can book a session with an Online Relationship Coach or Marriage Counselor, or an Online Parenting Coach.