Isaiah writes, in Is 7: 14, that the name of the coming Deliverer will be עִמָּנוּאֵל - Immanuel, God with us! His prophecy is quoted in Matthew 1: 21 - 23, saying that the same Jesus who'll save His people from their sins is the long-awaited Ἐμμανουήλ - God with us. By coming to live on earth, God was not only near; He was actually with us. He ate and drank, laughed and cried with mere human beings.
And what began with Jesus on earth, in the flesh, continued with the promise of the ever-present Holy Spirit in the life of believers. Even today, God is still with us, He is still Immanuel.