I am a Christian that likes to go to church, my hubby is a JW who likes to go to the Kingdom Hall. Yes, it is tough to find the common ground, since he is taught that he is always right, and I am "worldly". We get through it with patience, communication, and giving each other lots of room for their own beliefs.
Seriously, for both your sakes, talk things out with your hubby. I think you are not ready for the whole church thing, don't let yourself be pushed in to it. But perhaps you can work out with your hubby that it would be OK for your daughter to go. She does not have years of programming and hangups to overcome. Many churches have programs for the children, it can be an important social outlet.
I find modern society to be very isolating. Many people barely know their neighbours. This becomes painfully obvious if a couple tries to complete a passport application or apply for foster care. Are there any couples in your life that are not family, that know you well and could vouch for your character? Such people are gold. Find them and keep them.
Perhaps the both of you could compromise, and find a social outlet that is NOT church related. Like a softball league or something.