Jesus left the pleasures of Heaven to save us: Jesus left Heaven to save us so that we may also enjoy the pleasures of Heaven with Him. Since no one can enter Heaven with their own efforts and all are sinners, Jesus gave up everything for us to give us everything that He has.
To bring joy in Heaven: Jesus endured the pain and suffering of the cross for the sake of bringing joy in Heaven because their is joy in Heaven whenever a soul is saved.
Then Jesus told them this parable: “Suppose one of you has a hundred
sheep and loses one of them. Doesn’t he leave the ninety-nine in the
open country and go after the lost sheep until he finds it? And when
he finds it, he joyfully puts it on his shoulders and goes home. Then
he calls his friends and neighbors together and says, ‘Rejoice with
me; I have found my lost sheep.’ I tell you that in the same way
there will be more rejoicing in heaven over one sinner who repents than over ninety-nine righteous persons who do not need to repent.
(Luke 15:3-7, NIV)
John Gill's comment on Hebrews 12:2
.... for the sake of which Christ underwent so much
disgrace, and such sufferings; namely, for the sake of having a
spiritual seed, a numerous offspring with him in heaven, who are his
joy, and crown of rejoicing; for the sake of the salvation of all the
elect, on which his heart was set; and for the glorifying of the
divine perfections, which was no small delight and pleasure to him.
Joy beyond our imagination: They joy and pleasure in Heaven is indescribable. We can't imagine. Think of this description of the joy in Heaven.
‘He will wipe every tear from their eyes. There will be no more death’
or mourning or crying or pain, for the old order of things has passed
away.” (Revelation 21:4, NIV)
- No death: Death is the most painful thing in this world. I can't imagine a world without death. How joyous it would be to live forever in the presence of God.
- No sorrow: I can't imagine a world where their is no sorrow but only happiness. We have sorrows in this world due to countless reasons. Poverty, failure, career, job, family, sickness, disease etc. All these reasons for sorrow will be no more in Heaven.
- No pain: This is my favorite part of Heaven. In this world there is pain everywhere. Our body is able to feel pain and this is torturing us everyday. We try our best to reduce pains but we can't stop it. Heat, cold, sickness, hunger, tiredness, physical pain, all these will be no more.