In most cases, this transition is harder on us than them. I remember holding back the tears when my first born went to daycare for the first time. I was so proud of him as he waved me off from the window - with a big grin on his face, and I drove off, sniffling into my Kleenex.
It's not this easy for lots of parents, especially if your child is quite young when they first start, they probably won't be quite so happy to see you off.
I'm a huge advocate for gradual entry. Slowly start to build up your time there, with you initially, so 2 hrs, then 3 hrs, then 4 hrs and so on. As your child can't tell the time, what they can tell is the sequence of events - eventually they will associate a certain time of day (such as circle time) with you arriving to pick them up.
Ask for a copy of the daycare routine in advance, and work on this prior to your child going.
This way snack times, and nap times will be lined up.
Making it easier on them and their body clock.