Baby’s health insurance

I’m hoping someone can help me with this , I’m a first time mom and I’m due in 2 weeks with my first boy . I’m panicking because I don’t have health insurance for him . How do I apply for Medicaid? Do I apply now or after he is born ? Does anyone know or have experience with this that can help me out , I’m so worried I won’t be able to take him to the pediatrician to get his shots and his check ups right away

Edit - I don’t have Medicaid I’m under my dads insurance until 26 or until married. I live in Jersey