Those who crucified Jesus had a moment of awakening in Acts 2. Their heart was pricked because they realized their sin. Upon this realization they cry out "What must we do to be saved?". Peter replied, repent and be baptized for the forgiveness of your sins and you shall be saved.
We've strayed a long way from how the Bible would give us guidance. .....Considering Jesus started his ministry with his baptism, and he commands us to baptize, we ought to just do what Jesus did, and what he's told us to do.