This will be a phased process for you. You'll have the catheter, and it will need drainage (whether large bag or small straped to your leg), fairly frequently during the day while it is in for 10-12 days before removal. You will be best starting with full Depends-type underwear shorts after the catheter is removed. I personally stayed home while I had the catheter in. I did not leave the house, but I had the luxury of being retired. You may need to work, BUT...you likely will not want to or be able to work for about 2-3 weeks minimum. Everyone heals differently, but after I had the DaVinci, single-incision prostatectomy, I felt deep pain. It felt like I had been pummeled and beat down... "assaulted."
You will have lost the most important of your two urinary sphincters due to the surgery. The one that is left is the weaker of the two, and it will take time to strengthen it to regain your continence. ***MAKE SURE that you ask your urologist for a prescription for Pelvic Floor Physical Therapy (PFPT). Your insurance will initially approve two sessions (most likely) but your PFPT Therapist will write a simple justification for a total of eight sessions that your insurance company will approve. This therapy goes well beyond basic Kegel exercises. Try to start your basic Kegel exercises before your surgery as well, to get a head start.
"Luckier guys" see full restoration of urinary continence within about three months, but they are kind of rare. I progressed from the full Depends pull up undershorts underwear to wearing Depends "pads" at about 3-4 months. The challenge was that I was a "boxers" guy. I had to switch to jockey style underwear so the pads would fit properly in and stick to the fabric of the jockey style crotch. A "pad" would fall out of boxer shorts. You will wear the "pads" for 3-6 months before you can switch down to thin Depends "Shields" for just occasional leaks and unexpected squirts. You'll also use about 5-8 "pads" per day due to the volume of urine you produce. Same with the Depends diaper-style underwear. Once you get to Shields you will have learned a lot of control and retention of your urine, so you will get to the point that you'll eventually wear just one to two, maybe three "max" Shields per day. I wear two, sometimes a third just to feel cleaner.
It took me about 9 months before I became 98% continent, but to this day, now 14 months post-op, I still wear Shields because I still have rare little leaks and squirts like when I sit down in my car, or squat in the backyard. I look forward to being 100% continent, but even at 14 months, I am not. It is my fault too...I stopped doing my Kegel and PFPT style exercises months ago. I ws over-doing them to the point of having pain in those small, thin muscles. I just stop and never resumed after I felt better "down there." Also...
You will learn in PFPT that you must limit your liquid intake. No alcohol, no caffeine containing drinks (coffee, tea, sodas), and no acidic beverages like OJ. You'll basically be drinking water 95% of the time, and only 8 ounces at a time. If you drink more, you'll be rushing to the bathroom or changing yet another diaper or pad. I adapted easily and well to my new liquid consumption. You also learn to urinate every two hours "max" so you get urine out of you more frequently. You'll drink 8 ounces of water right after you urinate. There is a fine line between drinking enough liquid to keep your bladder from shrinking, and drinking too much and flooding diapers and pads to much frustration. Good luck to you. You will be fine.