I am not familiar with the history of Lutheran baptismal practices, but I am too much aware of how, over the past century, they have swallowed general Protestant theology.
The baptismal liturgy from the Lutheran Service Book (LCMS) can be found here, http://lsb.cph.org/samples/LSB_Sampler.pdf Not sure how much of that is swallowing general protestant theology or why?
The rite in LSB is decent, but it omits a procession from outside the Church, and omits exorcism, both of which teach/practice the Faith explicitly in terms of alienation by nature. Both the Lutheran and Roman Catholic rites reject the teaching the Holy Baptism is merely a symbol of commitment on the part of believers.