Hebrews 10:8-9

After saying above, “You have neither desired, nor have You taken delight in sacrifices and offerings and whole burnt offerings for sin” (which are offered according to the Law) then He said, “Behold, I have come to do Your will.” (And so) He does away with the first (covenant as a means of atoning for sin based on animal sacrifices) so that He may inaugurate and establish the second (covenant by means of obedience).

Sin is disobedience to God’s commands, and the sacrificial offering was not pleasing to God. Man’s heart had to change from choosing sin to choosing to be obedient to God. Jesus came to do God’s will and remove the barrier of sin through His sacrifice on the cross, bringing salvation.