God comes to earth in real time and space in the physical form of the man Jesus of Nazareth. Jesus was and is, the expected Jewish Messiah predicted in the Old and documented in the New Testaments.
Jesus is the Word, the communication from God by which He created all things and is presently holding all things together.
His coming to earth, His work on the cross, and future return are part of His creative work and plan of reconciling creation to Himself after the fall.