Medicaid for newborn

So, I don't know if anyone would know the answer to this or not.. but I'm in Kentucky, 37 weeks pregnant. My husband and I are both still on our parents' insurance until we are 26. Both of our parents have excellent jobs and make good money so the insurance is really good. However, I'm a college student (haven't been working since high risk pregnancy) and my husband makes just over $500/week. I'm hoping my baby boy qualifies for Medicaid. Anyway, will someone come and talk to us about getting Medicaid at the hospital or do I need to go somewhere for that? I've never had a medical card and neither has anyone in my family, so we are unsure. Any advice is welcome. Thanks!