Okay, here’s the plan: In 2020, we’ll fly a probe to an asteroid, look for a boulder to steal, pluck it off the asteroid with robotic arms, try to deflect the asteroid using our spacecraft’s gravity, fly back home, deposit the boulder in orbit around the moon, and wait for humans to visit the space rock around 2025.
The purpose of the mission is to test technologies and deep space rendezvous maneuvers deemed necessary for a manned mission to Mars. NASA hasn’t yet selected an asteroid to visit; they won’t make that decision until one year before launch.