Unsure whether or not I should baptize my child?

My husband and I do believe in God, but we do not belong to a church nor do we go to church regularly. I have heard that babies who were never baptized are sent to Limbo instead of Heaven. This scares me so much. Should I have my daughter baptized even though we are not regular church goers and we are not overly religious? Would any church even allow her to be baptized without us being regular members? Thank you for your advice.