What does it mean that Jesus fulfilled “all righteousness” when he was baptized? Jesus’ whole life, his ministry, beginning from his baptism by John in the Jordan until his suffering and death on the cross, is the “baptism” that fulfills all righteousness.
Just as all died with him on the cross (2 Cor 5:15), all were baptized with him in Jordan.
Central to James Relly, John and Judith Murray, was the idea, that it is not our faith that makes Jesus our savior, but rather that our faith is a recognition of the fact that he is our savior even before we believe. In his memoirs John Murray tells the story of how he was first presented to this argument when he met a young lady in his church, who was influenced by Relly.