"Both the one who makes men holy and those who are made holy are of the same family. So Jesus is not ashamed to call them brothers." NIV translation
Not only did Jesus die for our sins but, when we believe in Him, we are adopted into His family. It is amazing how we can be taken out of shameful sin and elevated to a position in the royal family of God.
"He says, 'I will declare your name to my brothers; in the presence of the congregation I will sing your praises.' And again, ' I will put my trust in him.' And again he says, 'Here am I, and the children God has given me.'" NIV translation
This family was spoken of even in the Old Testament as we see here in the quotes from the Psalms and the prophet Isaiah.
"Since the children have flesh and blood, he too shared in their humanity so that by his death he might destroy him who holds the power of death - that is, the devil -" NIV translation
We sometimes remember Jesus on the cross but forget all of the events that led up to that point. The Son of God left heaven to come to earth as the most helpless of humans, a baby. He suffered from all of the temptations that we face in life and yet remained sinless so that He could be the perfect sacrifice for us. When He rose from the grave, the power of death over Him and us was broken and the devil was defeated.
"and free those who all their lives were held in slavery by their fear of death." NIV translation
Because He broke the power of death through His resurrection, we are free as well. Our hope is that, like Jesus, we will be raised again to live with Him forever.
"For surely it is not angels he helps, but Abraham's descendants." NIV translation
Angels are not in fear of death because they do not die. It is man that faces death due to the effects of sin and so it is for our benefit that Jesus came in the flesh.