Galatians 4:4-9 But when [in God’s plan] the proper time had fully come, God sent His Son, born of a woman, born under the [regulations of the] Law, so that He might redeem and liberate those who were under the Law, | Amplified Bible (AMP)

Galatians 4:4-9 AMP

But when [in God’s plan] the proper time had fully come, God sent His Son, born of a woman, born under the [regulations of the] Law, so that He might redeem and liberate those who were under the Law, that we [who believe] might be adopted as sons [as God’s children with all rights as fully grown members of a family]. [Rom 11:17-24] And because you [really] are [His] sons, God has sent the Spirit of His Son into our hearts, crying out, “Abba! Father!” Therefore you are no longer a slave (bond-servant), but a son; and if a son, then also an heir through [the gracious act of] God [through Christ]. But at that time, when you did not know [the true] God and were unacquainted with Him, you [Gentiles] were slaves to those [pagan] things which by [their very] nature were not and could not be gods at all. Now, however, since you have come to know [the true] God [through personal experience], or rather to be known by God, how is it that you are turning back again to the weak and worthless elemental principles [of religions and philosophies], to which you want to be enslaved all over again?

Read Galatians 4