I think part of what it means to live in the fallen world  is we naturally think that God requires us to clean ourselves up or qualify ourselves to be with him.  That's not true. God welcomes us into his kingdom and into his own life before we ever did anything to deserve it.  

The season of Advent is the reminder that God inserted himself into this world as a human in order to love us, in order to welcome us into His presence.  We remember that Jesus rushed to meet us, that He dove into this world full on in order to love us before we ever loved Him, before we ever changed.

And that's still happening now.  That's the way God still is. He's diving into our lives at every moment to meet our needs, to love us, to welcome us. God is for you with the entirety of his being :)