How does Christ’s ascension to heaven benefit us?

First, he pleads our cause in heaven the presence of his Father.

Second, we have our own flesh in heaven — a guarantee that Christ our head will take us, his members, to himself in heaven.

Third, he sends us his Spirit to us on earth as a further guarantee. By the Spirit’s power we make the goal of our lives, not earthly things, but the things above where Christ is, sitting at God’s right hand. 

The Heidelberg Catechism