The entire goal of Mitzvos was to draw down (as a Mitzvah means connector) the Divine into the material, leading to the ultimate current messianic stage (of Dirah Bitachtoinim.) – The idea of Dirah Bitachoinim (God below) is like a fried who lives in his friend’s home – that if he is comfortable, he is both simultaneously one hundred percent himself (so God one hundred percent comes to us) and simultaneously it is his friend’s / us.