I am married for past two years but the thought of having kids freaks me out. Is this normal?

I agree this is quite normal to happen as having a child is a big responsibility and getting nervous and panicky is quite normal. But it could also be that you are actually not ready to have kids right now, so take your time, think what is it that freaks you about having kids. Discuss with your wife, it has to be well thought and planned decision as it is going to impact three lives.