So God created man in his own image, in the image of God he created him; male and female he created them. (Genesis 1:27)
Has it always been this way? Has man always been dissatisfied with his lot in life? No- God originally created mankind to be capable of enjoying His presence, resting in Him, as St. Augustine might have said.
They were completely content with themselves.
When God created Adam and Eve, they dwelt in the Garden of Eden with Him. They could converse with Him freely and they had no shame (cf. Genesis 2:25) - they were completely content with themselves and each other. Why was it that they could live in the presence of God? Because He had placed a supernatural life within them, one capable of being in the presence of an all-holy God: "Then God said, 'Let us make man in our image, in our likeness'" (Genesis 1:26). This "likeness" is the supernatural life that only comes from God. As long as Adam and Eve had this supernatural life, they could abide in God's presence.