For behold, this is my work and my glory—to bring to pass the immortality and eternal life of man.

And this is life eternal, that they might know thee the only true God, and Jesus Christ, whom thou hast sent.

Adam fell that men might be; and men are, that they might have joy.

COMMENTARY

This is my glory—to bring to pass the eternal life of man
And this is life eternal, that they might know thee the only true God

We understand God to be a being that has no restraints upon Him. He is not held back by a lack of power, or time, or by any external compulsion. He is, therefore, the freest being imaginable, and His pleasure is to perform whatever work He chooses.
And with that total freedom what has He chosen to do? To make us, His children, and raise us to life eternal. That “life eternal” is defined by Jesus as knowing God. This means to learn of God while here on Earth, but also to know Him perfectly when we dwell forever in His presence.
But for what purpose? Why does God consider it a personal glory to have us live in His presence and receive of His kingdom? And why should we want that ourselves?

Men are, that they might have joy
The answers to those questions are obvious. God wants us to dwell with Him because He loves us. And we want to dwell with Him because doing so will make us happy.
Even a small child understands that heaven means happiness, which is quite significant because there really is so very little that we know about heaven. And yet amidst all the many, many things that we do not know of it, we do know that it is a place of peace and joy. We know it fervently, so much so that we often use heaven as a synonym for happiness.
Not only that, but this idea of heaven=happiness holds firm across a plethora of different cultures and beliefs. It seems that if people believe in a creator, of any sort, then they also believe that dwelling with that entity is the most joyful existence possible. A joy that puts all worldly pleasures to shame.
God with all His power and all His freedom wanted to make us, His children. And then He wanted to make His children happy. It is as simple as that.
Joy, therefore, is the very reason for our existence.

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