16 After being baptized, Jesus came up immediately from the water; and behold, the heavens were opened, and [i]he saw the Spirit of God descending as a dove and [j]lighting on Him, 17 and behold, a voice out of the heavens said, “This is [k]My beloved Son, in whom I am well-pleased.”
Matthew 3:16 - 17
ESV - 16 And when Jesus was baptized, immediately he went up from the water, and behold, the heavens were opened to him, and he saw the Spirit of God descending like a dove and coming to rest on him. 17 And behold, a voice from heaven said, "This is my beloved Son, with whom I am well pleased.
For follow-up discussion and general commentary on the topic. Comments are sorted chronologically.
When Jesus was baptized by his cousin John the Baptist, the heavens opened up as Jesus came out from the water. God not only spoke and stated this is my beloved Son, but the Holy Spirit descended upon Jesus like a dove. So Jesus was water baptised and filled with the Holy Spirit, all examples to that Jesus taught throughout his ministry. In fact 7 times throughout the Old and New Testaments did God open up the heavens, 7 being the number of completion, perfection, and divine completeness. The number 7 is God's number.