The Lord spoke to Joseph three times through dreams. First, when Joseph had decided to quietly divorce Mary after learning of her pregnancy—itself a merciful decision that defied custom—an angel of the Lord appeared to him in a dream and said:

"Joseph, son of David, do not be afraid to take Mary into your home. For it is through the holy Spirit that this child has been conceived in her. She is to bear a son, and you are to name him Jesus, because he will save his people from their sins."
Matthew 1:20-21

The scripture emphasizes, “When Joseph awoke, he did as the angel of the Lord had commanded him and took his wife into his home” (Matthew 1:24).

Two more times “the angel of the Lord appeared to Joseph in a dream.” Once, when God told Joseph to flee to Egypt to protect the infant Jesus from Herod (Matthew 2:13-14). Another time was when the Lord called Joseph to bring Jesus back to the land of Israel (Matthew 2:19-21).

Immediately after God spoke to Joseph, he responded exactly as he was told.
Read more about Sleeping St. Joseph.

Oh St. Joseph, whose protection is so great, so strong, so prompt before the throne of God. I place in you all my interest and desires. Oh St. Joseph, do assist me by your powerful intercession, and obtain for me from your Divine Son all spiritual blessings, through Jesus Christ, our Lord.

So that having engaged here below your heavenly power, I may offer my thanksgiving and homage to the most loving Fathers. Oh St. Joseph, I never weary of contemplating you and Jesus asleep in your arms; I dare not approach while He reposes near your heart.

Press him in my name and kiss his fine head for me and ask him to return the kiss when I draw my dying breath.

St. Joseph, Patron of departing souls, pray for me and my loved ones.

Amen