Joseph and Mary traveled to Bethlehem , as it was told to go to their respective hometowns for the census.
Mary traveled to Bethlehem by riding on a donkey with Joseph.
He traveled from Nazareth to Bethlehem with Mary, where Jesus was born. From Bethlehem he took his family to Egypt. From Egypt they returned to Nazareth.
Joseph's ancestral home was Bethlehem. However, at the time he took Mary as his wife he was living in Nazareth.
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She traveled there with her husband Joseph, whose family was from Bethlehem.
It's not explicitly specified, so no one knows for certain.
At the time of Luke's journey from Nazareth to Bethlehem, Mary and Joseph were only bethrothed, and Mary was still a virgin. We can assume that they were both in their teens, with Mary probably in her early teens. Their parents would likely still have been alive and less than forty years old. If there really was a census during the reign of King Herod, something most scholars dipute strongly, then Joseph's parents would have been expected to go Bethlehem as well. Tradition tends to support the notion that Mary was also descended from King David, although the Bible is silent on this, in which case we could also expect her parents to travel to Bethlehem as well. However, for some reason, Luke's Gospel makes no mention of the extended family travelling together to Bethlehem.
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Mary and Joseph went to Bethlehem for the census because it was a requirement by the government for all residents to return to their ancestral hometowns to be counted.
Luke's Gospel says that Mary and Joseph had to travel from Nazareth in Galilee to Bethlehem in Judea, and be counted there for the census. However, scholars say that not only was the census at the wrong time for the nativity story in Luke's Gospel, there would never have been a requirement for Mary and Joseph to travel from Galilee where they would be taxed, to Judea where any census record would have no value in ensuring the collection of taxes. They say that the journey from Nazareth to Bethlehem simply did not happen.