In Heaven, Jesus was worshipped and glorified, but when He came down to Earth, he did not come down with a fanfare. Instead, hardly anyone was even aware that somebody special was being born that night. The Son of God was born a poor family, as a helpless baby. He lived His life as a servant and ultimately went to the cross. Why did he do this? He did this so that we can become rich. He ultimately went to the cross to die in out place so that through Him we can have eternal life.
Phillipians 2 v 6-8
6 who, existing in the form of God, counted not the being on an equality with God a thing to be grasped,
7 but emptied himself, taking the form of a servant, being made in the likeness of men;
8 and being found in fashion as a man, he humbled himself, becoming obedient even unto death, yea, the death of the cross.
2 Corinthians 8 v 9
9 For ye know the grace of our Lord Jesus Christ, that, though he was rich, yet for your sakes he became poor, that ye through his poverty might become rich.