We love to be with the ones we love.  So does God.  How else do you explain what He did?  Between Him and us there was a distance, and He could’t bear it.  So He did something about it.

From Philippians 2:6-8:  “Who, though he existed in the form of God, did not regard equality with God as something to be grasped, but emptied Himself, taking the form of a slave, assuming human likeness.  And being found in appearance as a human, He humbled Himself and became obedient to the point of death—even death on a cross.”