The origin and foundation of Christian Baptism is Jesus. Before starting his public ministry, Jesus submitted himself to the baptism given by John the Baptist. In Baptism, the Holy Spirit moves us to answer Christ's call to holiness. In Baptism, we are given the grace to believe in God, to hope in him, and to love him. God becomes present in our soul.
"Matthew 28: 19-20 "Go therefore and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, teaching them to observe all that I have commanded you."