How do we know the doctrine of Christ's voluntary suffering is true?

The doctrine of Christ’s voluntary suffering is affirmed through multiple scripture passages that illustrate His willingness to undergo pain and humiliation for our redemption. Philippians 2:8 indicates that Christ humbled Himself and became obedient to death, while Hebrews 10:7 signals His readiness to fulfill God’s plan: 'Lo, I come to do Thy will, O God.' Moreover, the accounts of His actions leading to crucifixion—such as not fleeing from danger and willingly facing accusations—highlight his submission to this divine intention. Remarkably, despite His foreknowledge of the suffering He would face, there is no sign of reluctance; instead, He approached His mission with earnestness, as seen when He said, 'With desire I have desired to eat this Passover with you before I suffer' (Luke 22:15). This underscores that His suffering was not only predetermined but willingly embraced.