Hebrews 10:9

‘Then has he said, “Lo, I am come to do your will.” He abrogates the first, that he may establish the second.'

And in particular what God wanted was that His will might be done in accordance with His eternal plan, and that will was the offering up of the body of His Son Jesus once for all. And that doing of God's will was also what Jesus willed along with Him, and voluntarily entered into, as He demonstrated when He boldly stated, ‘See, I am come to do your will'.

‘He abrogates (cancels) the first, that he may establish the second.' So by His act of obedience does He rid men of dependence on offerings and sacrifices, so that He might establish and make them dependent on His fully obedient, crucified and risen body of which they are to become ‘members'.