Of course the only way we can present our bodies as a living sacrifice is because Christ took on a body, in which He lived without sin and with the humility of a servant, and in which He gave Himself as a substitute for sinners. So our offering to God does not save us, it is only because we are saved. We do not atone for our sins, we do not redeem anyone else, but because we are united to Christ in His death and resurrection we present our members for righteousness as part of our worship.
This pleases God.
Jesus is the Son in whom the Father is pleased, and we come as those united to Christ, those who are “in Christ.” We remember and rejoice that God has highly exalted Christ Jesus and bestowed on Him the name that is above every other name, and with our tongues we confess that Jesus Christ is Lord, to the glory of God the Father. With this God is pleased.
Though the ESV translates Romans 12:1 as “acceptable to God,” the word acceptable could be translated as pleasing to God. Living and holy sacrifices please God. So Paul prayed for the Colossians that they would be filled with the knowledge of God’s will so as to walk in a manner worthy of the Lord, “fully pleasing to Him.”
This is not just some future status, it is the present process of believing and bearing fruit, of giving thanks to the Father for redemption in His Son and for transferring us into the kingdom of His beloved Son. Come, eat and drink in fellowship with God who is pleased to welcome you.