Baptism in the Bible is by full immersion and it baptism knowing consent and moral responsibility, which a infant does not posses. One must know and understand what it entails in ones self as baptism is a public statement to commit one's life to Jesus and it demonstrates that the person has repented of sin and wishes to live a life in Christ.
Since Jesus is the way the truth and the life, obviously you would look at His example and His revealed will, especially on being baptized. The scriptures are our guide, and through them we can learn to follow in the footsteps of Jesus and we begin at his commission to preach the gospel to the world.
"...Go into all the world and preach the gospel to every creature. He that believeth and is baptized, shall be saved; but he that believeth not will be condemned."
Mark 16:15-
16
Notice what it says, "He that believeth and is baptized shall be saved.". It is not enough to believe the gospel and stand on the sidelines. One must accept it and live it as many will find at the end.
"Not everyone who saith unto Me, 'Lord, Lord', shall enter into the kingdom of heaven, but he that doeth the will of My Father which is in heaven. Many will say to Me in that day, 'Lord, Lord, have we not prophesied in Thy name, cast out demons in Your name, and in Thy name done many wonders?' And then I will profess unto them, 'I never knew you; depart from Me, ye that work iniquity!'"
Matthew 7:21-23
There will be many who profess faith in Jesus, they preach His name, they even profess to have done great works in the name of Jesus, but they practice iniquity. The word iniquity that is used here is translated from the Greek "anomia", which means lawlessness or transgressing the law, and transgression of the law is the only definition of sin in the Scripture.
"Whosoever commiteth sin transgresseth also the law, for sin is the transgression of the law."
1 John 3:4
Obedience is the fruit of a relationship with God. It is not enough to to have a just a intellectual or factual knowledge of the law or to keep it because we know it is right (look under the definition of legalism). The law must be kept from the heart, it must become part of the mind or character, and with the Holy Spirit this change is possible to enable us to reflect the love of Christ to a world in need. The believer must be brought into harmony with God's law, he must be a doer of what Christ declares.
"Therefore whosoever heareth these sayings of Mine, and doeth them, I will liken unto a wise man which built his house upon a rock..."
Matthew 7:24