Insurance help

So me and my fiance are ready to start a family, only problem is I don't have insurance my question is do we get married and try and get on his or wait until I'm pregnant and apply for medicaid. We dont make a whole bunch.

Edit: so we have decided to get married so I can get insurance through him, how long is the process and if we move states and I dont have insurance but still pregnant can I get medicaid or something or keep the insurance