When we are baptized we are following Jesus’ example & obeying His command.
“As soon as Jesus was baptized, he went up out of the water. At that moment heaven was opened, and he saw the Spirit of God descending like a dove and alighting on him. And a voice from heaven said, ‘This is my Son, whom I love; with him, I am well pleased.’”
– Matthew 3:16–17
“Peter replied, ‘Repent and be baptized, every one of you, in the name of Jesus Christ for the forgiveness of your sins. And you will receive the gift of the Holy Spirit.’”
– Acts 2:38
The desire to be baptized should be motivated by our hope to glorify God in faithful obedience. Any other motivation (to join a specific local church, to please a friend or family member, etc.) should not be the ultimate reason for wanting to be baptized.