Paying quarterly taxes for two self employed people for 2020- married filing jointly

My husband has always been self employed. I have been W2 until Nov 2020 and self employed since Nov. 

 

I was told I need to pay quarterly taxes for this last quarter that I became an independent contractor, by Jan 15 2021. 

 

However, I didn't know all this time we were paying penalties these past years from husband not paying quarterly taxes. 

 

I'm confused as to how I go about making this upcoming quarterly tax payment. Should I overpay to try to cover what my husband should have been paying for the past 4 quarters for him? If so, do I do this all under my IRS online account?