God decided in advance to adopt us into his own family by bringing us to himself through Jesus Christ. This is what he wanted to do, and it gave him great pleasure.
God knew, long ago, that we would never be able to sustain a life worthy of eternity. God himself had to make that way for us, which He did through Jesus Christ. Jesus effectively broke our ties to Adam by breaking the chains sin and death, that have tethered mankind to this world for ages. The only requirement is belief.