When I saw that Peapod had expanded into Milwaukee, I jumped at the chance to try it. My mom has used this service down near Chicago for at least 5 years. It is fabulous.
You go online to www.peapod.com and order your groceries and select a delivery time, and then they deliver them to your front door!
There is a fee, and certain items are more expensive, but it helps me stick to a planned menu since I did my shopping at home with my list and with my whole kitchen available (no more coming home and seeing you already had 2 boxes of corn starch!), so it cuts down on running out to grab one thing and spending more in the long run. The produce is amazing and so fresh. And so not handled by weirdos in the store.
I can also find a great variety of vegetarian or specialty food items as well as pick up toilet paper and Ragu sauce without running to 4 different stores all over town. Love it!