Midrash Rabbah - Exodus III:1

Rabbi Joshua the priest, son of Nehemiah, said: "When God revealed Himself to Moses, Moses was a novice in prophecy; hence God thought: 'If I reveal Myself to him in a loud voice, I will terrify him, and if in a soft voice he will think lightly of prophecy.' So what did He do? He revealed Himself in the voice of his father.