The low-frequency infrared-active optical modes were studied in a barium zirconate, BaZrO3, single crystal with the perovskite structure using terahertz (THz) time-domain spectroscopy (TDS). The real and imaginary parts of the dielectric constants were accurately determined in the frequency range between 0.2 and 2.7 THz. Upon cooling from room temperature to 8 K, the lowest-frequency TO1 mode at 2.32 THz showed a pronounced softening to 1.94 THz. The real part of the dielectric constant at 0.5 THz determined by THz-TDS obeys Barrett's relation, and the existence of a plateau confirms that the quantum effects lead to saturation of the soft mode frequencies of the TO1 and TO2 modes below ≈20 K. This is reminiscent of incipient ferroelectrics with the perovskite structure such as CaTiO3.