Philippians 2: 6, 8
Who, although He existed in the form of God, did not regard equality with God a thing to be grasped ... He humbled Himself by becoming obedient to the point of death, even death on a cross.
Jesus knew before He came that He would have to die. That's the only way anyone is able to get out of this World.
Before this Earth was created, the Triune Godhead decided what He would do when Mankind sinned.
"Then Elohim said, Let us make Man in Our image, after Our likeness..." (Genesis 1:26).
Then the Second Person of the Godhead reached down, got a handful of dirt, and ...
"And the LORD God formed Man of the dust of the ground, and breathed into his nostrils the breath of life; and man became a living soul." (Genesis 2:7).
So the LORD God assumed full responsibility for Mankind, knowing that we would sin, and He would only be able to take us to live with Him where He is by coming to us as one of us, in order to cleanse us, so that we would be fit to live with Him where He is.
By becoming the Lamb of God, the personal Sacrifice that we each would need to wash away our sins with His Blood, He would cleanse us of every stain and spot, making us blameless to dwell with Him in Heaven.
This is the only way we can go to Heaven. Jesus knew this. In His humanity, he didn't want to have to go through with it, and prayed in the Garden that if there was any other way, to not make Him do it (Matthew 26:39; Mark 14:36). But He knew there was no other way, and submitted to the Father's will, that He had agreed to before the beginning.
Jesus had to face death in order to conquer it, and He was Resurrected with a new kind of life, no longer subject to death.
Now He can call us, who have accepted His sacrifice as our own, to that same Resurrection life, our bodies changed to be like His, either from the grave or without having to die, if we live to that Day of His Glorious Appearing. Then we also will no longer be subject to death, and we will live with our Lord, face-to-face, forever.
That's why He came. And He is coming again. Soon.
Even so, come, Lord Jesus!
