Lucifer was cast out of heaven for being disobedience to the will of God, and Adam and Eve were cast out of Eden for the same reason.  So, Jesus has a problem.  The problem is that if He took to heaven people who were knowingly disobedient to the will of God, the devil would cry foul, and God would have to bring the devil back to heaven too.  It is for this reason that although we aren't saved BY obedience, we are saved FOR obedience (see Romans 1:5), and the person who resists being obedience over time cannot be saved.  Love constrains me to do the will of the Beloved One.  So if we love God we'll go to Him to learn what His will is.  And because we're motivated by love, we'll delight to obey His will.