These days we number seven discreet sacraments: Baptism, Eucharist, Penance, Confirmation, Matrimony, Holy Orders, and the Anointing of the Sick. This list was codified at the 16th-century Council of Trent, when many church practices were enshrined to define Catholicism against its rivals during the Protestant Reformation. Inadvertently that led to a loss of the interconnectedness of all sacramental actions: the relationship between the “healing sacraments,” for example, or the mutual dignity of the “vocation sacraments.” Above all, parsing distinct sacramental theologies broke the integrity of the “initiating sacraments”: Baptism, Confirmation, and Eucharist. These were originally inseparable events which the RCIA process seeks to restore in the Catholic consciousness.
From the time of the early church it was understood that Baptism confers the Holy Spirit on the recipient, as the New Testament frequently attests. The activity of the Spirit is the "confirmation" the initiate now shares with the whole church. To withhold that sign for years, as we routinely do with children who receive Confirmation a decade or more after Baptism, creates a chasm in understanding this sacramental pairing. It's why some theologians call Confirmation "a sacrament in search of a meaning."
Similarly, once a person is baptized and confirmed, he or she is eligible for full participation in the life of the church–including a place at the Table of the Lord. The early church rightly understood the three initiating rites as a single event to be celebrated together after the proper season of preparation. What the modern RCIA process does is restore the period of preparation and the natural integrity of these sacramental actions. It gives us all a richer understanding of what these sacraments mean, even if we didn't receive them in a threefold way ourselves.
The modern church has yet to figure out how all this should work in light of infant baptism, practiced with urgency since the 4th-century development of the doctrine of original sin. Right now children receive slivers of membership until maturity, as the church "supplies" their faith by proxy until they're fully catechized.
Scripture
• Acts 2:41-47; 19:1-6; Romans 6:3-11; 1 Corinthians 12:13; Galatians 3:27-29
Online
• Explanation of the RCIA from the U.S. Conference of Catholic Bishops
Books
• The Heart of Faith: A Field Guide for Catechumens and Candidates by Nick Wagner (Twenty-Third Publications, 2010)
• Invitation to Catholicism by Alice Camille (ACTA Publications)