Matthew 2:13 Now when they had departed, behold, an angel of the Lord appeared to Joseph in a dream and said, “Rise, take the child and his mother, and flee to Egypt, and remain there until I tell you, for Herod is about to search for the child, to destroy him.” And he rose and took the child and his mother by night and departed to Egypt and remained there until the death of Herod. This was to fulfill what the Lord had spoken by the prophet, “Out of Egypt I called my son.”
Matthew 1:20 But as he considered these things, behold, an angel of the Lord appeared to him in a dream, saying, “Joseph, son of David, do not fear to take Mary as your wife, for that which is conceived in her is from the Holy Spirit
Matthew 2:19 But when Herod died, behold, an angel of the Lord appeared in a dream to Joseph in Egypt,
Acts 5:19 But during the night an angel of the Lord opened the prison doors and brought them out, and said,
Acts 10:7 When the angel who spoke to him had departed, he called two of his servants and a devout soldier from among those who attended him,
Acts 10:22 And they said, “Cornelius, a centurion, an upright and God-fearing man, who is well spoken of by the whole Jewish nation, was directed by a holy angel to send for you to come to his house and to hear what you have to say.”
Acts 12:11 When Peter came to himself, he said, “Now I am sure that the Lord has sent his angel and rescued me from the hand of Herod and from all that the Jewish people were expecting.”
Joseph responded immediately to what the angel said. I don’t know how God uses His angels but uses them He does. He is able to send them to convey a message, open locked doors, or allows them to be seen in some physical form. We know they were created by God and are used by God. The message they convey or the acts they perform are directly from God and for His purpose and will. I certainly do not know how this all works other than to say they are real. We are given examples of acts carried out by angels and the corresponding acts of those who were witnesses to these acts. Joseph took Mary to be his wife, fled to Egypt, and returned from Egypt. apostles were led out of prison, Paul, Peter, Cornelius, Martha, and Mary are examples of angels being used by God for their good. We do well to understand that in all things God is more than able to exceed our needs. He is not limited in any way. Note that these people were followers and believers who trusted in and relied upon Jesus Christ. They were not lukewarm in their belief, trusting, following, or reliance. Their hearts, minds, and souls were fixed on Jesus Christ and to honor and glorify Him continually.