In our maamar of the Alter Rebbe in Likutay Torah, he explains the verse “אָדָם כִּּי יַקְרִּ יב מִּכֶּּם-when an ‘Adam/Man’ will bring close from among you” as a reference to Hashem, the “Adam on High,” who “brings close” our Divine soul by shining His Light into us. This inspires us to take that inspiration into our own efforts in Divine service.
However, in the famous Maamar Basi Legani, the last maamar the Frierdiker Rebbe wrote, and the maamar that the Rebbe explained every year on Yud Shvat, he quotes a different version of the teaching of the Alter Rebbe. (A similar version is also quoted in Hayom Yom for 12 Adar II, from a maamar of the Frierdiker Rebbe recited Sukkos 5701.)
The version quoted by the Frierdiker Rebbe in Basi Legani (chapter 2) is as follows:
“אָדָם כִּּי יַקְרִּ יב-when a person will want to come close [to Hashem through prayer], 'מִּכֶּּם קָרְ בָּן לה-then it is dependent on you [the person himself] to make himself an offering to Hashem.”
Every single person is able to come close to Hashem through prayer, regardless of his background or past experiences. There is no one that says that he is not able to connect to Hashem through prayer and transform his animal soul.
In fact, every Jew is able to ask of himself: “When will my deeds be similar to those of my ancestors, Avraham, Yitzchok, and Yaakov?” There is nothing stopping the person from coming close to Hashem, and Hashem wouldn’t ask you to do something that He knows you are not capable of. Rather, Hashem shines His Light into every Jew and gives him the power to reach the highest spiritual levels.
This is the meaning of “אָדָם כִּּי יַקְרִּ יב-when a person will want to come close to Hashem, מִּכֶּּם-it only depends on you to want to do it and to actually do.” In addition, not only does “מִּכֶּּם-from you" mean that it is dependent on you, but also, it is saying what the "offering" is, namely, you should 'offer' yourself to Hashem. The verse continues: “מִּן הַבְּהֵמָה-from the animal.” Meaning, which part of yourself do you need to offer up to Hashem? Your animal soul.
The Frierdiker Rebbe goes on to explain the process of how the Divine soul offers up the animal soul, by igniting a fiery love for Hashem in him. It does this by first bringing out its own fiery love for Hashem that it always has hidden within itself. By bringing out the hidden love for Hashem, this affects the animal soul to make it realize that Hashem is real and important, and it is worth striving to connect to Him.
In the year 5712, the Rebbe explained this passage of the maamar of the Friediker Rebbe at length in his own maamar that was recited on Yud Shvat and printed shortly before Parshas Vayikra (on 25 Adar) that year. See there at length for many more insights into this topic.
