Do I need to do appointment for my daughter's to get real I'd

I think there's no appointment required at the Milford mass branch

Ms. Figueroa, I would definitely encourage you to first schedule an appointment before heading to the registry for your daughter's ID. You can arrive & be assisted without an appointment, but if you want it to be a quicker overall experience, your best bet would probably be to make an appointment at a convenient time/date for you & your daughter. This way you can also find out what's needed for the ID. I believe you can schedule either online or over the phone. Best of luck!