Ephesians 1:3-6

"Blessed and worthy of praise be the God and Father of our Lord Jesus Christ, who has blessed us with every spiritual blessing in the heavenly realms in Christ, just as [in His love] He chose us in Christ [actually select us for Himself as His own] before the foundation of the world, so that we would be hold [that is, consecrated, set apart for Him, purpose-driven] and blameless in His sight.  In love He predestined and lovingly planned for us to be adopted to Himself as [His own] children through Jesus Christ, in accordance with the kind intention and good pleasure of His will-- to the praise of His glorious grace and favor, which He so freely bestowed on us in the Beloved [His Son, Jesus Christ]."

Ephesians 1:3-6 Amp

God chooses to love us.  Despite all that we are and do, and He knows everything that we are and do, He chose to love each of us. You can see patterns of phrasing in the Bible where it says God hates 6 thing and finds 7 repulsive.  In the list that follows the final thing will be a person.  In Proverbs 6:16-19 God hates a proud look, hands that shed innocent blood, a heart that creates wicked plans, feet that run to evil, and a false witness.  But God only finds repulsive one (a person) who spreads discord.  Despite all of our sin, sin that God hates, He still chooses to love all of us.

He gave us a way out of the penalty of our sin.  After Adam & Eve sinned, He could have left them to the penalty of their sin.  Death.  But He chose to give His son, Jesus, that we might still be able to walk with Him.  He gave man everything, twice.  First when He placed Adam & Eve in Paradise.  And second when He sacrificed His Son that we could join Him in paradise.  He chose to redeem us.  I've heard some say that that choice is the reason that Satan hates us and God.  Go chose to redeem Man when he could have chosen to redeem Satan and the angels that rebelled against God.

In short, He set us apart, sacrificed his son for us, and then adopted us as children.