Small business estimated taxes?

Hi.. i am self employed. My spouse gross in 2010 was 82,000 and 13,700 was withheld (fed + ss).
I had a profit (after all deductions) around $6,000 for the year but I didn't pay estimated taxes.
We file jointly and have 2 kids under 3yrs old. Will I get penalized for not pre-paying my
estimated taxes? I'm sure we are getting a refund but will probably owe State. How do you estimate your taxes? There must be some easy way of doing it.
 
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