"Therefore the Lord Himself will give you a sign: Behold, the virgin shall conceive and bear a Son, and shall call His name Immanuel." - Isaiah 7:14

"And when eight days were completed for the circumcision of the Child, His name was called Jesus, the name given by the angel before Hi was conceived in the womb." - Luke 2:21

The first coming of the Lord was prophesied several hundred years before His coming and God in His providence and wisdom chose the right time and right place, and all prophecies regarding Jesus were fulfilled just as it was written in the scriptures.Jesus was born in the flesh and He is the image of the invisible God and hence He is also named Immanuel, which is 'God with us'. 

Praise the Lord!