She married Bob Peck in 1982. Peck and Baker shared a seventeen-year marriage until Peck's death in 1999. They had three children: Hannah (born 1983), George (born 1986) and Milly (born 1990).
Her theatre work includes the premiere of The Secret Rapture in 1988. She has also been working as an Actress in British television since 1975. Along with playing a recurring lead character in Rides and Fish, she has made cameo appearances in individual episodes of Blore M.P, The Professionals (1980), Only Fools and Horses (1981), Me and My Girl (1983), "Last Bus to Woodstock (A Morse TV-Mystery) (1988), Prime Suspect (1995), The Broker's Man (1997–98), The Vanishing Man (1998), Perfect Strangers (2001), New Tricks (2003), A Touch of Frost (2004), Secret Smile (2005), Waking the Dead, Holby City, (2007), Spooks (2008) and Wallander, Episode 1 in 2008. She has also appeared as Lady de Lesseps in Shakespeare in Love. In 2009 she appeared in the ITV Drama Whatever It Takes, In 2010 she appeared in the ITV Drama Midsomer Murders. In 2014, she appeared in Happy Valley as Helen Gallagher. Baker made a brief appearance in Only Fools and Horses in the episode "The Second Time Around", as Del Boy (David Jason)'s ex-fiancée, Pauline Harris.
