In Matthew 22:15-22, it is stated:

15 Then the Pharisees went and plotted how to entangle him in his words. 16 And they sent their disciples to him, along with the Herodians, saying, “Teacher, we know that you are true and teach the way of God truthfully, and you do not care about anyone's opinion, for you are not swayed by appearances.[a] 17 Tell us, then, what you think. Is it lawful to pay taxes to Caesar, or not?” 18 But Jesus, aware of their malice, said, “Why put me to the test, you hypocrites? 19 Show me the coin for the tax.” And they brought him a denarius.[b] 20 And Jesus said to them, “Whose likeness and inscription is this?” 21 They said, “Caesar's.” Then he said to them, “Therefore render to Caesar the things that are Caesar's, and to God the things that are God's.” 22 When they heard it, they marveled. And they left him and went away. (The provided translation)

From this, it is understood that those of the Earthly realm belong to the Earthly realm and those of the realm of Heaven belong to Heaven. So a Earthly, power would decide the rules in respect to things of Earthly power, which includes taxation. Overall, Jesus was in favor of paying taxes since it is a government's domain.