The short answer is YES. The long answer is as follows:
We need to submit to baptism by immersion in water because that is what Jesus and his apostles command us to do.
It is a work of faith.
Jesus submitted to John’s baptism as an example to us.
Matthew 3:13 Then cometh Jesus from Galilee to Jordan unto John, to be baptized of him. 14 But John forbad him, saying, I have need to be baptized of thee, and comest thou to me? 15 And Jesus answering said unto him, Suffer it to be so now: for thus it becometh us to fulfil all righteousness.
Baptism in water is therefore necessary to ‘fulfil all righteousness’.
Jesus’ disciples baptised those who believed the gospel preached by Jesus.
John 3:22 After these things came Jesus and his disciples into the land of Judaea; and there he tarried with them, and baptized… 25 Then there arose a question between some of John’s disciples and the Jews about purifying. 26 And they came unto John, and said unto him, Rabbi, he that was with thee beyond Jordan, to whom thou barest witness, behold, the same baptizeth, and all men come to him.
John 4:1 When therefore the Lord knew how the Pharisees had heard that Jesus made and baptized more disciples than John, 2 (Though Jesus himself baptized not, but his disciples,)
After his resurrection Jesus commanded his apostles to preach the gospel and to baptise those who believed.
Matthew 28:19 Go ye therefore, and teach all nations, baptizing them in the name of the Father, and of the Son, and of the Holy Spirit:
Mark 16:15 And he said unto them, Go ye into all the world, and preach the gospel to every creature. 16 He that believeth and is baptized shall be saved;
Belief without baptism cannot save us.
On the day of Pentecost Peter tells the Jews:
Acts 2:38… Repent, and be baptized every one of you in the name of Jesus Christ for the remission of sins…
From this we learn that baptism by immersion in water washes away all our previous sins.
Following Peter’s preaching 3000 believed and were baptised.
Acts 2:41 Then they that gladly received his word were baptized: and the same day there were added unto them about three thousand souls.
When the Samaritans believed the gospel preached by Philip they were baptised.
Acts 8:12 But when they believed Philip preaching the things concerning the kingdom of God, and the name of Jesus Christ, they were baptized, both men and women.
When the Ethiopian Eunuch believed Philip, he was baptised.
Acts 8:35 Then Philip opened his mouth, and began at the same scripture, and preached unto him Jesus. 36 And as they went on their way, they came unto a certain water: and the eunuch said, See, here is water; what doth hinder me to be baptized? 37 And Philip said, If thou believest with all thine heart, thou mayest. And he answered and said, I believe that Jesus Christ is the Son of God. 38 And he commanded the chariot to stand still: and they went down both into the water, both Philip and the eunuch; and he baptized him.
Ananias tells Paul:
Acts 22:16 And now why tarriest thou? arise, and be baptized, and wash away thy sins, calling on the name of the Lord.
Acts 9:18 And immediately there fell from his eyes as it had been scales: and he received sight forthwith, and arose, and was baptized.
The Philippian gaoler was baptised.
Acts 16:33 And he took them the same hour of the night, and washed their stripes; and was baptized, he and all his, straightway.
Crispus and many at Corinthians were baptised
Lydia was baptised
Acts 16:14 And a certain woman named Lydia, a seller of purple, of the city of Thyatira, which worshipped God, heard us: whose heart the Lord opened, that she attended unto the things which were spoken of Paul. 15 And when she was baptized, and her household, she besought us, saying, If ye have judged me to be faithful to the Lord, come into my house, and abide there. And she constrained us.
Paul re-baptised disciples of John Baptist at Ephesus:
Acts 19:3 And he said unto them, Unto what then were ye baptized? And they said, Unto John’s baptism. 4 Then said Paul, John verily baptized with the baptism of repentance, saying unto the people, that they should believe on him which should come after him, that is, on Christ Jesus. 5 When they heard this, they were baptized in the name of the Lord Jesus.
Baptism by immersion in water is symbolic of burial with Christ and rising again to begin a new life.
Romans 6:3 Know ye not, that so many of us as were baptized into Jesus Christ were baptized into his death? 4 Therefore we are buried with him by baptism into death: that like as Christ was raised up from the dead by the glory of the Father, even so we also should walk in newness of life.
Baptism by immersion in water is part of the process of salvation.
1 Peter 3:21 The like figure whereunto even baptism doth also now save us (not the putting away of the filth of the flesh, but the answer of a good conscience toward God,) by the resurrection of Jesus Christ:
Submission to baptism for the remission of our past sins is the response of a good conscience (i.e. one that recognises that we have sins that need washing away).
By immersion in water that we ‘put off’ the old man and ‘put on’ Christ and become heirs of the promise of eternal blessing made to Abraham.
Galatians 3:27 For as many of you as have been baptized into Christ have put on Christ. 28 There is neither Jew nor Greek, there is neither bond nor free, there is neither male nor female: for ye are all one in Christ Jesus. 29 And if ye be Christ’s, then are ye Abraham’s seed, and heirs according to the promise.
Without baptism by immersion in water we cannot begin a life in Christ.
We cannot be ‘born of the Spirit’ without first being ‘born of water’.
John 3:5 Jesus answered, Verily, verily, I say unto thee, Except a man be born of water and of the Spirit, he cannot enter into the kingdom of God.
My I suggest that you read:
Why Baptism Really Matters: https://www.thisisyourbible.com/library/show/178
I hope you find this helpful.