Plan ahead. Bring a box or carrier with you to put your rabbit in. Your rabbit won't like riding home on your lap. What if they have an accident on the way home? What if they get scared and jump off your child's lap?
Make sure that after you pick up your rabbit, you don't have any stops on the way home. Pick up all your rabbit's supplies BEFORE you pick up your rabbit.
When you get your rabbit home, make sure he/she has food, hay, and water, then leave him or her alone for several hours. If you have children that could potentially be loud, play some soft music in the rabbit's area; such as classical or blues, something that won't startle the rabbit.
The perfect bond starts with the perfect beginning.