Why Did Jesus Come to Earth?

In the Bible book of Hebrews chapter 10, verse 9 says, "Lo, I come to do thy will, O God." Jesus came to do His Father's will. God's will regarding the salvation of mankind is clear. 1 Timothy 2:4 - "[God our Savior] will have all men to be saved, and to come unto the knowledge of the truth." This will happen. Matthew 18:11 - "For the Son of man (a title Jesus used to refer to Himself) is come to save that which was lost." Jesus came to save people, and everything that was lost when Adam first sinned. Jesus will  eventually restore all things to their right condition. Acts 3:21 says the heaven must receive Jesus "...until the times of restitution of all things..." Jesus will not fail in His mission.

When He came to die for the sins of the world, He finished the work He was given to do during the first part of His mission. He will come again to complete God's will and bring it to its fullness. Jesus still has much work to do. We must have the faith to believe that He can and will do it. 1 Corinthians 15:20-28 speaks of work Jesus has yet to do.

²⁰But now is Christ risen from the dead, and become the firstfruits of them that slept. ²¹For since by man came death, by man came also the resurrection of the dead. ²²For as in Adam all die, even so in Christ shall all be made alive. ²³But every man in his own order: Christ the firstfruits; afterward they that are Christ's at his coming. ²⁴Then comes the end, when he shall have delivered up the kingdom to God, even the Father; when he shall have put down all rule and all authority and power. ²⁵For he must reign, till he hath put all enemies under his feet. ²⁶The last enemy that shall be destroyed is death. ²⁷For he has put all things under his feet. But when he says all things are put under him, it is manifest that he is excepted, which did put all things under him. ²⁸And when all things shall be subdued unto him, then shall the Son also himself be subject unto him that put all things under him, that God may be all in all.

    
God will be all in all when Jesus has finished His work of restoring all things. Look forward to the day when everything, including you, will display the glory of God.