Why do you think Joseph and Mary went to Bethlehem for the census? Luke says everyone had to register in their ancestral town and was that just it? Or maybe they felt some calling from God?
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The census. Luke 2 says Augustus ordered it, and Joseph was from David’s line so he had to register in David’s town.
Joseph probably experienced the whole thing as a hassle, a long trip with a pregnant wife for a pagan emperor’s paperwork. Micah had named Bethlehem centuries earlier though.
Luke says Joseph went to Bethlehem to register because he was from David’s family line, and Mary went with him. He doesn’t say whether she had to register too or came along for family reasons.
He stresses that Jesus was born in David’s town, as the promised Davidic king.
Luke has them living in Nazareth, and Bethlehem only comes up as the town tied to Joseph’s family. I’ve tried to find some private calling in the decision but Luke doesn’t describe one… the only reason he gives is the registration rule.