By his Ascension he has prepared for us a place as he had promised, and has entered as our head, in the name of us all, into the possession of the glory of heaven. Ascending into heaven, he threw open its gates, which had been closed by the sin of Adam; and, as he foretold to his disciples at his Last Supper, secured to us a way by which we may arrive at eternal happiness. In order to give an open proof of this by its fulfillment, he introduced with himself into the mansions of eternal bliss the souls of the just whom he had liberated.Catechism of the Council of Trent (1566 - overseen by St Charles Borromeo) p.60
I love this description of the Ascension because it includes us as well as Jesus. He enters Heaven, not alone or for His own sake, but "as our head" and "in our name", bringing with Him our forebears in faith and ensconcing them in their new heavenly homes to show us what lies in store for those who follow.