Call and speak with a loan officer at the bank you do business with. Starting the 1st of the year, FHA requires 3.5% down or $5,400. in your example. I doubt with your income you qualify for down payment assistance but if you or your husband have not owned a home in the last 3 years you will qualify for a $7500. tax credit from the IRS good if you purchase before July 1, 2009.
You can use gift funds if your parents are able to help.
Good luck and get to saving.