Until the end of 1775, Baldwin and his men remained near Boston, but in April 1776, he was ordered with his command to New York City. He took part in the Battle of Pell's Point on October 18, 1776. On the night of December 25–26, in the face of a violent and extremely cold storm of snow and hail, General Washington and his army crossed the Delaware to the New Jersey side, and fought the Battle of Trenton on the morning of December 26. Baldwin and his regiment participated in both the crossing and the fight. In 1777, Baldwin resigned from the army because of ill health.