But when Herod was dead, behold, an angel of the Lord
appeareth in a dream to Joseph in Egypt, 20 Saying, Arise, and take the young child and his
mother, and go into the land of Israel: for they are dead which sought the
young child's life. 21 And
he arose, and took the young child and his mother, and came into the land of
Israel.
Herod eventually did die, it actually wasn’t that long at all. By some
estimates only a couple of years after Joseph fled to Egypt. Again, the Lord
appears to Joseph in a dream (this seems to be how the Lord consistently spoke
to this particular servant of his). And Joseph got up and left. Again God says
arise—immediately obey—and Joseph does. He immediately obeys the Lord and
prepares Jesus and Mary to go back to Israel.
What was Joseph’s fear? That Herod’s son was now reigning in place of his father. Joseph was honestly afraid to be around Herod’s son. But what does God do? He comes again in a dream and warns Joseph and Joseph turns toward Galilee—a rural area of northern Israel.
Matt 2:19-23 (KJV)