I recently heard a Franciscan priest say that one reason God became flesh was to share an intimate union with his creation. By making Himself one of us, He became visible, thereby, a little easier for us to understand and reflect. He experienced humanity and what it means to be human, and therefore knows our struggles and concerns in an intimate way.
The song also brought these scripture verses to mind:
30 But the Pharisees and their teachers of religious law complained bitterly to Jesus’ disciples, “Why do you eat and drink with such scum?”
31 Jesus answered them, “Healthy people don’t need a doctor—sick people do. 32 I have come to call not those who think they are righteous, but those who know they are sinners and need to repent.”
Instead of writing a long blog, I'll let the song speak for itself.