Elder Bruce C. Hafen of the Seventy taught,

The Fall was not a disaster. It wasn’t a mistake or an accident. It was a deliberate part of the plan of salvation. We are God’s spirit “offspring,” sent to earth “innocent”  of Adam’s transgression. Yet our Father’s plan subjects us to temptation and misery in this fallen world as the price to comprehend authentic joy. Without tasting the bitter, we actually cannotunderstand the sweet. We require mortality’s discipline and refinement as the “next step in [our] development” toward becoming like our Father. But growth means growing pains. It also means learning from our mistakes in a continual process made possible by the Savior’s grace, which He extends both during and “after all we can do.” 

April 2004 General Conference, “The Atonement: All for All“