God chose the perfect time in history for Jesus to come (see Luke 4:18–19; Ephesians 4:8–10).
Jesus was fully human, born of a woman, and required to follow the law of Moses. Jesus fulfilled the law (see Matthew 3:13–15; 5:17) so that God's children now have freedom and are no longer enslaved by it.
to redeem those: By fulfilling the law and taking on its curse, Jesus freed us from its demands (Galatians 3:13; see also Romans 3:24; Colossians 1:13–14).
that we might receive our adoption as sons: See also Romans 8:15–17.