At Roissy Charles de Gaulle (CDG) Airport, you will meet your driver in the arrival area.
It means that
1. you will have collected your luggage
2. you will have cleared customs and immigration
At Orly Airport, you might meet your driver before collecting your luggage, depending on terminal.
As soon as you will have met your driver, you should not need to carry your luggage. Your driver will take care of everything. Should you need to stop at the toilets or get cash from the ATM, simply ask your driver who will be happy to assist.