It's a story of God's desire to be with us and have a personal relationship with us. He's a relational being who is constantly looking to be with us.
In the book of Genesis 3:8, we have God coming down to be with Adam and Even in the garden of Eden.
In the book of Hosea He shows us His desire to be with us by way of the prophet Hosea. And even though we have strayed, God pursues us still and says "...I will allure her, and bring her into the wilderness, and speak comfortably unto her" (Hosea 2:16). The illustration that the book of Hosea depicts is that of a woman, which according to Biblical prophecy denotes the Church, being un-faithful to her husband and he still pursues her.
In the New Testament we have Jesus who came down from heaven to be with us and to take our punishment.
Finally, in the book of Revelation 21:3-4, we see a God who's desire is to dwell with us and us with Him.
...Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God.
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