It's pretty clear that "singing is among the most meaningful activities we share with children." But this NY TImes article talks about the social connection that happens when you sing to an infant.
It explains that it doesn’t much matter how well or poorly you sing. It’s the attention, the feeling, that kids respond to. “You put all the gush into it and it’s the emotive quality that comes across, not whether you hit the right notes,” Dr. Trehub said.
So come to a Music Together class, learn some songs, and sing your heart out. Your child will be your biggest fan, no matter how you sound!