I feel embarrassed asking this, but any answers would be appreciated 🙂

Many generations of my family are Roman Catholic, but my parents did not practice it or teach me anything about it. They were baptized and stopped practicing anything after childhood. They decided not to baptise me. I am in my mid 20s and have two children of my own now. I really want to learn more about Christianity, and help to raise my children with it, but I dont even know where to start or if I can. If I'm not baptized, can my children be? Can an adult join a religion? Where can I start? Thanks in advance.