"Then said I, Lo, I come (in the volume of the book it is written of me,) to do thy will, O God" (Hebrews 10:7).
These marvelous words (in Hebrews 10:5-7) are an interpretive quotation from Psalm 40:6-8, which in turn was being cited prophetically as the testimony of the eternal Son of God as He prepared to leave heaven and "the bosom of the Father" (note John 1:18) to descend to Earth to become also "the Son of man," with no "where to lay His head" (Matthew 8:20).
He first took up residence on Earth in the womb of Mary, then in a manger, then a house in Bethlehem, then somewhere in Egypt until the death of King Herod who had tried to kill Him, then in the home of His foster father in a despised village, eventually on a cross on which His enemies would impale Him, and finally for three days in a borrowed tomb.
And all this, amazingly, was to do the will of His Father in heaven, which He fully understood would include the terrible death of the cross. "Therefore doth my Father love me, because I lay down my life, that I might take it again" (John 10:17).
We can never comprehend such love--only believe it and receive it. "For God so loved the world, that He gave His only begotten Son, that whosoever believeth in Him should not perish, but have everlasting life" (John 3:16). Now we can testify with Paul: ". . . the life which I now live in the flesh I live by the faith of the Son of God |His faith, not ours!|, who loved me, and gave Himself for me" (Galatians 2:20).
But anyone who ignores that love should note this sobering truth: ". . . he that believeth not is condemned already, because he hath not believed in the name of the only begotten Son of God" (John 3:18). HMM