Yes, There is an Example of Paedobaptism (Infant Baptism) in the Bible
“And the people of Israel journeyed from Rameses to Succoth, about six hundred thousand men on foot, besides women and children.” (Exodus 12:37)
“I want you to know, brothers, that our fathers were all under the cloud, and all passed through the sea, and all were baptized into Moses in the cloud and in the sea,” (1 Corinthians 10:1-2)
