Is bathing a baby twice a day (1 in the morning and 1 in the evening) just fine?

I only bathe my baby once a day and wipe down when changing into his pajamas for bed time. Some of my mummy friends choose the easy way out of wiping down; they "rinse" baby under water without using soap. Baby do not get dirty easily as most of the time they are home so there is no need for frequent bathing.