At that time Caesar Augustus sent out a decree that a census should be taken of the whole empire. This was at the time when Quirinius was the governor of Syria. Everyone was required to go to his family’s ancestral hometown for the census.
Because Joseph was descended from King David, he had to travel from his home in Nazareth in Galilee, to Bethlehem, the city of David in Judea. He took his fiancée Mary with him.
It came time for her to give birth while they were there. She gave birth to her firstborn son, wrapped him in swaddling clothes, and placed him in a manger, because there was no place for them to stay at the inn.
Here is the story concerning the birth of Jesus. His mother Mary was engaged to be married to Joseph, but while she was still a virgin it became known that she was pregnant by the Holy Spirit. Because her fiancé Joseph was an honorable and righteous man, he decided to break their engagement off privately rather than publicly disgracing her.
But after he had decided what he was going to do, an angel appeared to him in a dream saying “Joseph, son of David, don’t be concerned about taking Mary as your wife, because the child within her was conceived by the Holy Spirit. She will give birth to a son and you shall name him Jesus (meaning “Yahweh saves”) because he will free people from their sins.”
All of this fulfilled the prophecy spoken by God through the prophet Isaiah:
“Behold the virgin will become pregnant and gave birth to a son, and he shall be called Emmanuel.” (Which means “God is with us.”)
After Joseph woke up, he did as the angel had told him. He took Mary as his wife, but did not know her intimately until she gave birth. And Joseph named him Jesus.