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.
Baldwin was initially elected to the Maryland House of Delegates in 1994, succeeding a seat left by John G. Gary, who later became County Executive for Anne Arundel County and Elizabeth S. Smith. His electoral district encompassed part of Anne Arundel County.