The way He came to man was to become a man, Jesus, and live on the earth among man. Jesus told the world about His Father, and how His Father desired fellowship with man. He also told the world about sin, and that the only way to restore a relationship with God was to trust in Himself, Jesus, and to follow Him.
But many men refused that message, and (just as God had predicted) killed Jesus on a cross.
But, just as God had said, Jesus rose from the dead three days later. He stayed on the earth for another 40 days, continuing to preach and proclaim God's love for man, and then He returned to heaven.