CLAIM: Critics claim that this worldwide census is not historical, claiming that Mary would not have needed to travel this far with Joseph. Did these sort of censuses occur in the Roman Empire?
RESPONSE: Hoehner points out that a similar census was enacted in AD 104 in Egypt.In addition, the Jews would have been taxed according to the estate of their fathers. So, this laborious trip would be necessary. Moreover, Joseph probably brought Mary, because she “was with child” (Lk. 2:5). Mary was only a young girl, and she probably wouldn’t have felt comfortable giving birth all alone, while Joseph was miles away.
 Hoehner, Harold W. Chronological Aspects of the Life of Christ. Grand Rapids: Zondervan Pub. House, 1977. 15.