1.需要加for.
地点副词here是修饰动词wait的状语,you是for的宾语,与地点副词无关.
2.here前无需加at,here已经是副词作地点状语.at 是介词,介词后只能加名 词,动名词和代词宾格.
所以这句话应该是 You can wait for you baby here.
举几个简单的例子
We waited 20 minutes for a bus.
They're waiting for the children to come home.