Have you ever wondered why Jesus had to come to earth? There are the obvious answers of living to show us how to live, and his death to atone for our sin, followed by the resurrection which conquered death. But couldn't the God of all creation have come up with a better plan? The resources of eternity were available to God and yet incarnation was the way chosen. Hebrews 2 starts to answer that very question. It matters that Jesus was like us.
Jesus entered the human condition so that he could experience the fullness of being human. Essentially Jesus is able to say I have been there I understand what you are going through. The writer of Hebrews talks about this in the sense of Jesus being made like his brothers in every way, so that He could do the work of God for which he was sent to do. For the bulk of eternity Jesus sits at the right hand of God. For what is a blink in eternity Jesus has an earthly pilgrimage so that he would experience the temptation we experience, so he could interact with humanity.
Our Savior and Lord is not a remote and removed God. Our condition is known not just from afar, rather it is known intimately, as one who has walked a mile in our shoes as it were. This Jesus who died and rose on our behalf knows exactly what he is doing, and who he is doing it for. He has been there, and understands what we go through from personal experience. That brings me a certain level of comfort and joy in Christ.