How to train my unmanagable dog?

Okay so, I'm expecting in like 2 and a half months, and it with a dog that barks everytime the door bell is rung, or the door is knocked on- I will never be a happy mommy or have a happy baby. I'll be constantly stressed, but even more so with a bad, disobedient dog around. He doesn't have that many issues, just a select few but they're really bad and out of hand. He's a terrible dog to walk, and whenever he has the chance to escape from his harness- he will, and does. He'll tear off into the neighborhood and bark at anybody outside- not aggressively, I can tell- but he just stands there barking at people, anybody. And another one is he's extremely attatched to my mother, because she would always baby him when he was younger. I've gotten her out of the bad habit but the consequences have stuck and he follows her around like her shadow. He sleeps with her at night and is aggressive sometimes about getting off- not too bad though. And if we put him alone with the other dog in the kitchen, he literally whines ALL. NIGHT. What do I do? :( We've had him for nearly 4 years and I couldn't imagine giving him to some stranger or having him put down. And I'd like to see if we could do it before calling a trainer in, because that's way too much money for us right now.