First, all that belong to the covenant and church of God are to be baptized. But the children of christians, as well as adults, belong to the covenant and church of God. Therefore they are to be baptized as well as adults. The major proposition is proven from the command of Christ, which requires the whole church to be baptized. “Go, and teach all nations, baptizing them,” &c. And Paul says: “By one Spirit are we all baptized into one body.” (1 Cor. 12:13.) The minor proposition is clear from the covenant itself in which God declares, “I will be a God unto thee and thy seed after thee:” and from what Christ says: “Suffer little children to come unto me; for of such is the kingdom of heaven.” (Gen. 17:7. Matt. 19:14.)
Zacharias Ursinus | The Commentary of Dr. Zacharias Ursinus on the Heidelberg Catechism, trans. G. W. Williard (Cincinnati, OH: Elm Street Printing Company, 1888), 366.
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