Limping is an option
Avoid limping most of the time, but don't discount it entirely, says Dara O'Kearney.

When you first learn poker, you quickly discover how bad an idea limping is.
You should always raise when you are first to act, it thins the field, builds the pot and gives you an immediate chance to win.
As you get more advanced, limping will often rear its head again.
I would argue that, as a default, don't limp. But never take the option off the table entirely.
Exceptions to the no-limp rule

A spot came up recently where the Hero had 2bbs under-the-gun at a final table. Obviously, they have very little fold equity, and most of their opponents would be looking to call him, then check it down, so they can ladder.
This is actually a good spot to limp when there is a big blind ante, with the ante posted first.
These spots often get checked down anyway, so we realise our equity often. If we lose, we still have a big blind.
If a bigger stack raises, we can call off and benefit from the fold equity they generate, getting the hand heads-up with lots of dead money in the pot.
Again, if in doubt, don't limp, but also don't be one of those players who say they will never limp.
You can get Dara's free book on effective poker study by joining his mailing list.