Matthew 2:19 After Herod died, an angel of the Lord appeared in a dream to Joseph in Egypt
Even though they were in hiding from Herod, God did not leave the family to fend for themselves. He was with them continually and even sent another angel to Joseph to tell him when it was time to move again.
Joseph had no problem listening to God and together they came back to Nazareth as a family to be among the Jews once again.
This was where God wanted them to be, and listening to God as a family was making them stronger each and every day!