Initially I wanted to add my daughter's name to my passport since I did not want to get her a passport so early as she would have 3 passports by the time she is in her 20's. But a visit to the Regional Passport Office website told me that we can no longer add a name to the parent's passport and that we have to get a fresh passport.
I went to the local e-seva counter at S.R. Nagar and bought the application form for Rs. 10. Filling up the application was fairly straightforward following the instructions at the back of the form. It is also clearly mentioned what needs to be submitted along with the form.
After getting the form you need to complete the form and submit it at the passport office.