Isaiah 7:14 contains the prophecy that the Messiah would be born of a virgin and would be called Immanuel, which means "God with us." That prophecy was fulfilled in Matthew 1:21-25 when Jesus Christ was born to Mary. The name Immanuel (God with us) signifies the incarnation of God in the person of Jesus Christ.
Jesus, who is God (John 1:1; 10:30), dwelt with people during His time on earth (John 1:14). After His death and resurrection, Jesus sent the Holy Spirit to be with His followers (John 14:16-17; 16:7).
Jesus asked His apostles a question that everyone today must answer rightly: “But who do you say that I am?” (Matthew 16:15). Peter answered correctly: “You are the Christ, the Son of the living God” (Matthew 16:16). Jesus is God incarnate, and to miss that point is to undermine the magnitude of Christ’s sacrifice for humanity (John 1:1; Colossians 2:9; Philippians 2:6-7).
Jesus is the embodiment of God who dwelt on earth in human form. Thus, Jesus truly is "God with us." In fact, all three Persons of the Trinity—Father, Son, and Holy Spirit—can be said to be with us. God sustains His creation. Today, the Holy Spirit indwells His believers. One day, all those who have trusted in Jesus will be with God.
Not all who profess to be believers acknowledge Jesus’ divinity, though. Jehovah’s Witnesses, Unitarians, and Muslims are among the religious groups today that deny Jesus as God. But the Bible attests that He is. Our role as believers is to share that truth with those who deny it. Only the sinless, incarnate Son of God is sufficient to cover humanity’s sin.
God came to Earth to die for the sins of humanity. One day, believers will dwell with Him forever. In describing the new heavens and new earth, John said, "And I heard a loud voice from the throne saying, 'Behold, the dwelling place of God is with man. He will dwell with them, and they will be his people, and God himself will be with them as their God'" (Revelation 21:3). Believers can look forward to that day.