For this reason, when Christ came into the world, he said, “‘You did not want sacrifices and offerings, but you prepared a body for me. You did not approve of burnt offerings and sacrifices for sin.’
Then I said, ‘I have come! (It is written about me in the scroll of the book.) I have come to do what you want, my God.’ ”
In this passage Christ first said, “You did not want sacrifices, offerings, burnt offerings, and sacrifices for sin. You did not approve of them.” (These are the sacrifices that Moses’ Teachings require people to offer.)
Then Christ says, “I have come to do what you want.” He did away with sacrifices in order to establish the obedience that God wants. (Hebrews 10:5-9 GW)
What is the obedience God wants? The answer is shown by His Son who came as the Messiah, the Savior of the world. "I have come..." Not to do what He wants, but what the Father desires.
For us? It's not acts of obedience, but the surrender of our life and will to the Lord.