Luke 2:1-5 1And it came to pass in those days that a decree went out from Cesar Augustus that all the world should be registered. 2This census first took place while Quirinius was governing Syria. 3 So all went to be registered, everyone to his own city.4Joseph also went up from Galilee, out of the city of Nazareth, into Judea, into the city of David, which is called Bethlehem, because he was of the house and lineage of David, 5 to be registered with Mary, his betrothed wife, who was with child.
They traveled to Bethlehem, a distance of about 90 miles and likely they traveled along the River Jordan. If you're picturing a trip in arid land along a muddy river, think again. The river's landscape is lush and green and the river curves gently along the way. It would have been a pleasant journey, most likely, but arduous as well, because the elevation climbs steadily upward as you head into Bethlehem.