We just had our second one and I am rolling with the Graco SnugRide Infant Car Seat - Pippin. One base in the KJ and one in the Town & County.

We have the Graco DuoGlider Stroller to go with it.

I have the Safety 1st Alpha Omega Elite Convertible Car Seat - Remington for my 21 month old for the KJ. I have the previous version of this seat in the van.

I also have the Jeep Liberty Limited Stroller.
So far we really like the Graco. Padding seems to be on the light side, but enough to be comfortable. She sleeps every time she gets in it. It is really nice having a stroller that the seat will snap into. The less you have to take them out of the seat when they are an infant, the easier your life will be. I have the double one, but they make them in the single version.
I like the Safety 1st Alpha Omega series seats for the convertibles. They are simple, well made and are usually pretty cheap. I'll be getting a couple more of those when the second is ready for a convertible. We didn't put the first into the convertible until she was ready to turn forward. At the time, we only had an Audi and my KJ. The convertibles turned backwards took up WAY more room than the infant seats do in those cars. You can position the passenger from seat to where it will accept the infant seat while an adult can still fit comfortably in it.
Be sure you are registered with Baby's R Us. They send you 20% off coupons all the time. Using those and catching them on sale or some thing brings the price down to a more reasonable level.
I hope that helps.