 He made his professional regular season debut in the Oakland Raiders' season-opening 35–34 win at the New Orleans Saints.On September 25, 2016, Joseph made his first career start and recorded a season-high ten combined tackles in the Raiders' 17–10 victory at the Tennessee Titans.On October 9, 2016, he collected six combined tackles, defended a pass, and made his first career interception off of Philip Rivers during a 34–31 victory over the San Diego Chargers.