Messianic Judaism affirms Matthew 28:19 as the risen Yeshua's command to baptize believers 'in the name of the Father and the Son and the Holy Spirit.' This supports the Messianic Jewish practice of immersion baptism for those who believe in Yeshua as Messiah.

Messianic Jews understand baptism as initiation into the community of believers in Yeshua, in the context of the God of Israel (Father), His Son (Messiah Yeshua), and His Spirit. This Trinitarian invocation is seen as compatible with Jewish monotheism properly understood. Immersion baptism in the name of the Trinity affirms both the centrality of Yeshua as God's Son and the continuity with Jewish water immersion practices (tevilah) for ritual purification and covenantal commitment.