Have this attitude in yourselves which was also in Christ Jesus, who although He existed in the form of God, did not regard equality with God a thing to be grasped, but emptied Himself taking the form of a bond-servant... (Phil.2:5-7).
To fulfill your life's mission, you have to be willing to enter the world of those around you.
Jesus made this clear when He left the glory of heaven to bring salvation to us on earth by living and dying as a man.
While it's natural to do all we can to keep ourselves comfortable and safe, real living takes place when we're willing to sacrifice for the sake of those we can help.