Baldwin was first elected to the Maryland House of Delegates in 1994 when he won a seat left open by John G. Gary, who was elected as County Executive for Anne Arundel County, and Elizabeth S. Smith. Baldwin's district was a portion of Anne Arundel County, Maryland.
In 1994, Baldwin was elected to the Maryland House of Delegates, taking over a seat previously occupied by John G. Gary, who later became County Executive for Anne Arundel County and Elizabeth S. Smith. His electoral district included part of Anne Arundel County.