What was the Allies' goal when they invaded France?

Aside from merely liberating France, the Allies were
opening a long-awaited and prepared for Second Front in Europe.  The fact that Hitler's
Germany had conquered France and all of Western Europe meant that all he had to do was
fortify the beaches and his entire Army would be free to concentrate on the invasion of
the Soviet Union.

By successfully invading France,
something that Stalin had been angrily demanding for two years already by June of 1944,
Germany now had to divide its army and defend itself from two directions, an impossible
task that could only lead to their defeat.  This is exactly what happened only 11 months
after the D-Day landings.