Should I refinance my primary residence now?

[Pollyanna Gomez]

My current interest rate on my primary residence is 4.375%. (30 years, fixed).

According to my loan officer I can save $211 per month if I lower it down to 3.5% and bring $19K to closing (to get rid of mortgage insurance).

I am not planning to sell condo anytime soon, in fact I want to keep it as investment property in a future. 

Current interest rates are very low, and I really want to take advantage of it. But putting this much money would that be a good investment?

Thank you