John 1:14
And the Word became flesh, and dwelt among us, and we saw His glory, glory as of the only begotten from the Father, full of grace and truth.
But the word "Incarnation" and the defined doctrine thereof, came after a lot of study and reflection of such things.
There were, after all, other opinions. One opinion was that Jesus Christ was two persons ---Jesus was one person, and the Christ another--- so that Jesus was a human person whose body was "possessed" by another person, God ("I'm your vehicle.")
And those who said Jesus had only one nature, the Divine Nature, and that his humanity was a kind of elaborate disguise. Still others said that Jesus was the first-created, not the only-begotten. And so forth.
This all sounds wacky to us now, but the proponents of these positions found their own Scriptural proof-texts, which seemed like a good idea to them at the time.
The truth of the Incarnation is rooted in the Scripture you cite. The defined doctrine of the Incarnation --- in all its details --- was articulated much later.