Now when all the people were baptized, it came to pass, that when Jesus also was baptized, and praying, the heaven was opened,
All Commentaries on Luke 3:21 Go To Luke 3
Ambrose of Milan
AD 397
But the cause of our Lord's baptism He Himself declares when He says, Thus it becomes us to fulfill all righteousness. But what is righteousness, except that what you would have another do to you, you should first begin yourself, and so by your example encourage others? Let none then avoid the laver of grace, since Christ avoided not the laver of repentance.
Now the Spirit rightly showed Himself in the form of adove, for He is not seen in His divine substance. Let us consider the mystery why like a dove? Because the grace of baptism requires innocence, that we should be innocent as doves. The grace of baptism requires peace, which under the emblem of an olive branch the dove once brought to that ark which alone escaped the deluge.
We have seen the Spirit, but in a bodily shape, and the Father whom we cannot see we may hear. He is invisible because He is the Father, the Son also is invisible in His divinity, but He wished to manifest Himself in the body. And because the Father did not take the body, He wished therefore to prove to us that He was present in the Son, by saying, You are my Son.