It is a trip that you have to make weekly, no matter how tight your schedule is. You can spend as long or as little time doing this depending on the time you have. If you are a busy mom you need to get the shopping out of the way as soon as possible. A little pre planning is all you need to do.
Make a list
Make a healthy meal plan for the week and make a list of what is required, check with what you already have in the house and make the shopping list. Have the list on the fridge and whenever something is running low, add it to the list.
Go to a familiar store
When you are familiar with the layout of the store, you can go straight to the aisles you need without having to walk around the store looking for things.
Shop at the right time
Avoid going to the store during the weekends and early evenings during week days. Avoid these times as much as possible; preferably go during a week day morning to avoid the queues.
This will allow you to go around getting what you want fast without being distracted.