Matthew 3:13-17 Baptism of Jesus

Then Jesus arrived from Galilee at the Jordan coming to John, to be baptized by him. But John tried to prevent Him, saying, "I have need to be baptized by You, and do You come to me?" But Jesus answering said to him, "Permit it at this time; for in this way it is fitting for us to fulfill all righteousness." Then he permitted Him. After being baptized, Jesus came up immediately from the water; and behold, the heavens were opened, and he saw the Spirit of God descending as a dove and lighting on Him, and behold, a voice out of the heavens said, "This is My beloved Son, in whom I am well-pleased." [Matthew 3:13-17]

When Jesus came to John the Baptist to be baptized, John recognized the greater authority of Jesus, and desired to be baptized by Him. Jesus insisted saying, "Permit it at this time; for in this way it is fitting for us to fulfill all righteousness." The word that is translated as "righteousness" means "integrity, purity, or that which is pleasing to God."

Jesus didn't need to be baptized for the forgiveness of sins, since he was without sin. By allowing Himself to baptized by John, he placed his stamp of approval on John's ministry. Although He was God in the flesh, he humbled himself as a man, placing himself lower than John. By identifying with sinful man, He was doing what He was born to do, thus fulfilling "that which is pleasing to God.

After Jesus came up out of the water, we are told "the heavens were opened." there are three other instances in the Bible where this phrase is used. 

"Now it came about in the thirtieth year, on the fifth day of the fourth month, while I was by the river Chebar among the exiles, the heavens were opened and I saw visions of God." [Ezekiel 1:1 NASB]

"And he [Stephan] said, “Behold, I see the heavens opened up and the Son of Man standing at the right hand of God.” [Acts 7:56 NASB]

"And I saw heaven opened, and behold, a white horse, and He who sat on it is called Faithful and True, and in righteousness He judges and wages war." [Revelation 19:11 NASB]

In each case it describes a vision given by God to Ezekiel, Stephen, and the apostle John. It seems likely that John the Baptist was given a vision wherein he saw the Holy Spirit descend from heaven and alighting on Jesus. The language used says "he saw", and there is no indication that the crowd saw or heard anything. Luke 3:22 says, "the Holy Spirit descended upon Him in bodily form like a dove." And John 1:32 says, "John testified saying, “I have seen the Spirit descending as a dove out of heaven, and He remained upon Him." So John the Baptist saw the Holy Spirit descend in bodily form like a dove and remain on Jesus.

John concludes, "I did not recognize Him, but He who sent me to baptize in water said to me, ‘He upon whom you see the Spirit descending and remaining upon Him, this is the One who baptizes in the Holy Spirit.’ I myself have seen, and have testified that this is the Son of God." [John 1:33-34 NASB]

God the Father expressed His pleasure at Jesus' obedience when His voice thundered out of heaven, "This is My beloved Son, in whom I am well-pleased."