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Yes, the Sacrament of Baptism by water is required!

Jn 3:5
Jesus answered (Nicodemus), “Amen, amen, I say to you, no one can enter the kingdom of God without being born of water and Spirit.”
Mt 28:19
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,
Mt 3:11
I am baptizing you with water, for repentance, but the one who is coming after me is mightier than I. I am not worthy to carry his sandals. He will baptize you with the holy Spirit and fire.
Gal 3:25-27
But now that faith has come, we are no longer under a disciplinarian. For through faith you are all children of God in Christ Jesus. For all of you who were baptized into Christ have clothed yourselves with Christ.
1 Cor 12:12-13
As a body is one though it has many parts, and all the parts of the body, though many, are one body, so also Christ. For in one Spirit we were all baptized into one body, whether Jews or Greeks, slaves or free persons, and we were all given to drink of one Spirit.
Acts 2:37-38
Now when they heard this, they were cut to the heart, and they asked Peter and the other apostles, “What are we to do, my brothers?” Peter (said) to them, “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 10:44-47
While Peter was still speaking these things, the holy Spirit fell upon all who were listening to the word. The circumcised believers who had accompanied Peter were astounded that the gift of the holy Spirit should have been poured out on the Gentiles also, for they could hear them speaking in tongues and glorifying God. Then Peter responded, “Can anyone withhold the water for baptizing these people, who have received the holy Spirit even as we have?”
Acts 8:11-13
They paid attention to him (Simon Magus) because he had astounded them by his magic for a long time, but once they began to believe Philip as he preached the good news about the kingdom of God and the name of Jesus Christ, men and women alike were baptized. Even Simon himself believed and, after being baptized, became devoted to Philip.
Titus 3:5
... not because of any righteous deeds we had done but because of his mercy, he saved us through the bath of rebirth (baptism) and renewal by the holy Spirit.
1 Pet 3:20-21
God patiently waited in the days of Noah during the building of the ark, in which a few persons, eight in all, were saved through water. This prefigured baptism, which saves you now.
Rom 6:3-4
Or are you unaware that we who were baptized into Christ Jesus were baptized into his death? We were indeed buried with him through baptism into death, so that, just as Christ was raised from the dead by the glory of the Father, we too might live in newness of life.
Col 2:12
You were buried with him in baptism, in which you were also raised with him through faith in the power of God, who raised him from the dead.

Acts 2:38-39
Peter (said) to them, “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. For the promise is made to you and to your children and to all those far off, whomever the Lord our God will call.”
The New Testament speaks of the baptism of “whole households” which in the normal Greek usage of the time included children.

1 Cor 1:16
I (Paul) baptized the household of Stephanas also ...
Acts 11:13-14
He related to us how he had seen (the) angel standing in his house, saying, ‘Send someone to Joppa and summon Simon, who is called Peter, who will speak words to you by which you and all your household will be saved.’
Acts 16:15
After she (Lydia of Thyatira) and her household had been baptized, she offered us an invitation...
Acts 16:30-32
Then he (the jailer) brought them (Paul and Silas) out and said, “Sirs, what must I do to be saved?” And they said, “Believe in the Lord Jesus and you and your household will be saved.” So they spoke the word of the Lord to him and to everyone in his house.
Acts 18:8
Crispus, the synagogue official, came to believe in the Lord along with his entire household.
To the Colossians, Paul paralleled baptism and circumcision. Circumcision was normally administered to children eight days after birth.

Col 2:11-12
In him you were also circumcised with a circumcision not administered by hand, by stripping off the carnal body, with the circumcision of Christ. You were buried with him in baptism, in which you were also raised with him through faith in the power of God, who raised him from the dead.
To the Corinthians, Paul recalled that just as all the Jews of the Exodus (including children) were baptized into Moses by passing through the Red Sea, they were actually being blessed by Christ.

1 Cor 10:1-4
I do not want you to be unaware, brothers, that our ancestors were all under the cloud and all passed through the sea, and all of them were baptized into Moses in the cloud and in the sea. All ate the same spiritual food, and all drank the same spiritual drink, for they drank from a spiritual rock that followed them, and the rock was the Christ.
In Mark’s Gospel, we have Jesus’ own teaching on children.

Mk 10:13-16
And people were bringing children to him that he might touch them, but the disciples rebuked them. When Jesus saw this he became indignant and said to them, “Let the children come to me; do not prevent them, for the kingdom of God belongs to such as these.” ... Then he embraced them and blessed them, placing his hands on them.
The Roman Catholic Church teaches that baptism is necessary for salvation after the promulgation of the Gospel for everyone, both children and adults.

Jn 3:5
Jesus answered (Nicodemus), “Amen, amen, I say to you, no one can enter the kingdom of God without being born of water and Spirit.”
It is frequently asked by non-believers how an infant is capable of making an act of faith in order to receive baptism. The response of the Catholic Church is to follow the Biblical example of Christ. Jesus accepted the faith of others as an occasion of salvation, forgiveness and healing of another. The Church has always done likewise. In infant baptism, the faith of parents and sponsors is required.

Mk 2:1-5
When Jesus returned to Capernaum ... They came bringing to him a paralytic carried by four men. Unable to get near Jesus because of the crowd, they opened up the roof above him. After they had broken through, they let down the mat on which the paralytic was lying. When Jesus saw their faith, he said to the paralytic, “Child, your sins are forgiven.”
Mt 8:5-13
When he entered Capernaum, a centurion approached him and appealed to him, saying, “Lord, my servant is lying at home paralyzed, suffering dreadfully.” He said to him, “I will come and cure him.” The centurion said in reply, “Lord, I am not worthy to have you enter under my roof; only say the word and my servant will be healed.” ... When Jesus heard this, he was amazed and said to those following him, “Amen, I say to you, in no one in Israel have I found such faith.” ... And Jesus said to the centurion, “You may go; as you have believed, let it be done for you.” And at that very hour (his) servant was healed.

Jn 3:5
Jesus answered (Nicodemus), “Amen, amen, I say to you, no one can enter the kingdom of God without being born of water and Spirit.”
The Roman Catholic Church believes that a “washing of the body with natural water” is what is required for valid baptism.

Mt 28:19
... baptizing them in the name of the Father, and of the Son, and of the holy Spirit,
Mk 16:16
Whoever believes and is baptized will be saved.
Acts 8:36,38
As they traveled along the road they came to some water, and the eunuch said, “Look, there is water. What is to prevent my being baptized?” ... Then he ordered the chariot to stop, and Philip and the eunuch both went down into the water, and he baptized him.
Acts 10:47
“Can anyone withhold the water for baptizing these people, who have received the holy Spirit even as we have?”
Tit 3:5
He saved us through the bath of rebirth and renewal by the holy Spirit.
Eph 5:26
... to sanctify her, cleansing her by the bath of water with the word,
1 Cor 10:2
... all of them were baptized into Moses in the cloud and in the sea.
1 Pet 3:21
This prefigured baptism, which saves you now.