Micah 5:2-4 is quoted in part in Matthew 2:6, which cites the passage as indicating that the Messiah was to be born in Bethlehem, the town of David.
From an insignificant beginning would arise a continuation of the Davidic kingly lineage. Not just any king, this king will rule in the strength and majesty of God. He will shepherd his people and they will be secure.
In Jesus this is so clearly fulfilled. Yet it is partial fulfillment: the kingdom of God has come, but the complete rule of God is yet to come. We are secure in Christ, but we groan as we await the redemption of our bodies.
Our hope is in Christ, and it is glorious, but we keep looking forward to when we shall see Him as He truly is.