Only in the Catholic church...Around the time Catholics, as a group, started reading the scripture...
It's been in the bible since, uh, the 1st Century...
Oh, you must be a historian. I like history too. Can you give me some names of Christians who believed that Baptism was unnecessary? Can you show me their writings? All the way back to the time of Christ?
I did a little research, all I can come up with is some heretics called the Anabaptists, who may have believed such.
I don't think Jesus said that he was going to leave us a Bible. He did say He was going to leave us a Church though.