Why did Jesus submit to the authority of God while Jesus was a man?

The Bible tells us that Jesus emptied himself and set aside his heavenly glory and submitted himself to the will of his Father (God). In order to do the will of his Father (God) who sent him, and to obey Him, Jesus was in a lower position to that of God the Father. What are the theological implications of this change in position, and was it permanent? I am looking for a biblical explanation from a Reformed Protestant position.