Earlier quoted context omitted.
No, you could bring the asteroid into an earth orbit. You can ship down some of the expensive metals to cover your cost right away, but leave the bulk materials in HEO for spaceship construction. The easiest way to do this is to find an ice-rich asteroid and use a nuclear-thermal engine to vaporize the ice for propellant.
Orbit is much more expensive than reentry and landing (thanks to our atmosphere). Crash the asteroid into a convenient desert or shallow ocean, then continue with more conventional mining techniques.
That meteor that lit up the sky in Chelyabinsk was estimated to be 20m in diameter and weigh around 13,000 tones[1], it exploded in the atmosphere releasing the energy of 500 kilotons of TNT (about 1.8 PJ), about 29 times the energy released from the atomic bomb detonated at Hiroshima.[1]
Not sure I'd want to be on the planet when you crash your asteroid into a convenient desert or shallow ocean.