I can think of a couple reasons:
- It creates a common thread to tie movies and characters together: Cap has a reason to care about the thing Loki stole because it’s the same thing he saw the Red Skull use to try to conquer/destroy the world.
- It avoids the need for new exposition: what’s this thing? Oh, it’s an infinity stone. The audience knows what those are already.
- It creates the setup for Avengers: Infinity War.