This is the idea behind sending the Messiah. The Messiah's mission is to give man God's truth and help him live according to it. God also wants to restore the angels so they can help man lead a proper life. In Jesus, God wanted to give man a substantial model of true life. Because man has been completely separated from God for so many tens of thousands of years he cannot understand the true meaning of God's word without a living example.
Fallen man needs a substantial model to follow.
By observing the model's life we can adopt his lifestyle. This is the purpose of sending the Messiah to fallen man. But as we know, Jesus couldn't give God's words as completely as he desired. Even though he knew God's words, he couldn't express all that he knew because of the people's disbelief. And he couldn't lead the life he wanted to because he died without marrying.