Commentaries:
This foretells of Joseph and Mary being warned by an angel to take the newly born Jesus to Egypt to avoid the cruelty of King Herod, and once Herod died, the family returned to live in Nazareth (see Matthew 2:12-23).
Richard T. Ritenbaugh
Meet the Minor Prophets (Part One)
A short while after Jesus is born, God warns Joseph in a dream to leave immediately for Egypt to escape persecution from Herod the Great (Matthew 2:13). Once Herod dies, Joseph, Mary, and Jesus return to Judea (verses 15, 19-21), fulfilling the prophecy of Hosea 11:1, "Out of Egypt I called My Son."
This recalls God's redemption of Israel from bondage, suggesting the later work of Jesus as Redeemer of all mankind. Paul encourages Titus by saying that Christ "gave Himself for us, that He might redeem us from every lawless deed and purify for Himself His own special people" (Titus 2:14).
Richard T. Ritenbaugh
Born of a Woman