It is an obscene fallacy to consider that mankind needs to be "redeemed" from God's law. The law does not keep one in bondage—sin does. The law just points out why that man is in bondage. As the notes at Galatians 4:3 show, God's intent and desire is to free us from the bondage of sin, just as He redeemed the Israelites from Egypt. Right before God gave Israel the Ten Commandments, in a preamble of sorts, He stated very clearly, "I am the LORD your God, who brought you out of the land of Egypt, out of the house of bondage" (Exodus 20:2). God's law points out to people why they are reaping the negative consequences of the choices they make—why they are in bondage to sin and condemned to pay the physical and spiritual price.
Jesus Christ was supernaturally conceived ("made of a woman") and took on the consequence of all of our sins ("made under law"), so He could redeem—pay the price for—everyone who was also under the condemnation of the law. We are redeemed from the bondage of sin and its consequences, not from the perfect law of God! It should be noted that He did this for all men, not just for the Jews. Hence, the "redemption" could not be referring to redemption from the moral instructions of what is right and wrong, simply because the Gentile Galatians were not familiar with God's law before He called them.
Prior to God's call from this satanic system, we were Satan's children. We bore his image, and resembled him in word, deed, and attitude (Ephesians 2:1-3; John 8:38-44). When God calls us into a relationship with Him, He justifies us—brings us into alignment with His perfect law—and gives us a measure of His Spirit so we may begin to understand His ways. To those that He chooses and who properly respond, He gives the authority to become His sons (John 1:12). This sonship is by adoption, because our first father was Satan the Devil!
Genesis 1:26 shows that God's intent is to recreate Himself and to have a Family of spirit beings. Because He loves us, He gives us the opportunity to be called the "sons of God," which alienates us from the world because the world still bears the image of Satan (I John 3:1). Through the sanctification process we are changed, and become more and more in His likeness, and upon our resurrection we will be raised with incorruptible spirit bodies, fully part of the Kingdom—the Family—of God.