I've been asked this same question many times over the years and I must confess at the outset that the Bible does not specifically give us an answer.
Over the years I have talked to dozens of believers who were either baptized into a church which they later came to realize was unbiblical, or they consented to water baptism at an age where their understanding and appreciation of water baptism was incomplete. In such cases I see nothing wrong with being baptized once again.