Matthew 3:17 New International Version (NIV)
17 And a voice from heaven said, “This is my Son, whom I love; with him I am well pleased.”
Jesus heard God’s voice. God declared his love for his Son. Jesus never doubted God’s love for him. His relationship with God the Father was based on God’s love for him. That is how Jesus experienced getting to know himself, and it helped him understand himself. Jesus was one with his Father in Love.