I don't think baptism is necessary. Baptism was a way for pagans to literally change their religion, if you're born into Christianity, you're already starting with a "theologically clean slate" so to speak. Nowadays, with the popularity of non-religion, baptism probably isn't even necessary for many non-Christians starting Christianity.
Jesus was baptized, it is 'John the Baptist', not 'Jesus the Baptist.
And yes, I have reviewed all the available verses, no direct command to baptism, and certainly no actual commandments of procedure.
Without these specific commandments, one could, I assume, baptize themselves in their own home.