Knowing God in the Incarnation (Heb 1.1-4)

The incarnation refers to God coming in the form of humanity. But, why does God do so? Hebrews 1.1-4 states that it is so that humans could come to know and love God and be known and loved by God. The Son of God lays aside all advantage and takes on the vulnerability of a man in order to offer every human the opportunity to know him personally.