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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)