The answer is: In a dream

Matt 2:13 - The angel only appeared to Joseph in a dream and didn't actually visit them in a physical sense. Also the angel appeared only to Joseph and not to them both.

When you dive into the story of Jesus's birth, things take quite the twist with Joseph being awoken by a dream—a dream that would send progression on a divinely appointed quest to escape danger. Can you imagine, drifting off at night and receiving a message of such monumental significance? It’s like something ripped straight out of a modern thriller! The family’s flight to Egypt wasn’t just about saving a life; it was part of a vast, unfolding prophecy.

Joseph's dream not only showcases trusting intuition during crisis but has some fascinating echoes of other biblical figures who received guidance while dreaming—like Jacob, who saw a ladder stretching to heaven, or Pharaoh, who was warned about a coming famine.

Fun fact for you: the use of dreams in the biblical narrative hints at deeper spiritual communication, showing that God often interacts in disguised ways. In many ancient cultures, dreams were considered significant omens, making Joseph's narrative resonate across cultures and generations.

Plus, the choice of Egypt hints at its strong historical connection to Israel, symbolizing refuge and transformation. It's laden with rich symbolism, where Egypt becomes a safe haven, paralleling an early image of Jesus’ family who later would be embodying ideals of liberation in their acclaimed narrative.

In this way, Joseph isn't just a guardian of the infant Jesus; he's ushering a divine saga forward through the pulsating rhythm of history. And just like that, dreams spark a thrilling adventure that still ignites the imagination today!