Read: 1 Samuel 16
But the Lord said to Samuel, "Do not look on his appearance or on the height of his stature, because I have rejected him. For the Lord sees not as man sees: man looks on the outward appearance, but the Lord looks on the heart." (1 Samuel 16:7 ESV)
Samuel the Prophet was told by God to visit the house of Jesse and anoint a king to replace Saul who had began to live in disobedience. When the old prophet showed up he was struck by the appearance and presence of Jesse's eldest sons. However, God passed all of Jesse's sons up until Jesse reluctantly introduced his youngest boy David. Immediately God showed Samuel that David was the one meant to be king.
From that point in the story of the Jews an epic tale unfolded. The house of David arose and took a huge role in the historic shaping of the Jewish people, but it wouldn't end with just the Jews. For eventually Jesus would be born a descendant of David. Just as David, the youngest shepherd son of Jesse, was an unlikely candidate for the crown of Israel, Jesus was born into a lowly earthly family.
Often we make judgements about people based on a plethora of preconditioned variables. God looks at none of that. He sees straight into the heart of a man. Jesus was pure in heart and great in faith, though poor of wealth and small in all of the trappings society uses to measure worth and success. We follow a faith established on the person and work of God who came to live as a homeless traveling preacher. When you think about it that way it makes our methods for measuring the success of life seem oh so meager in comparison.