What does the Bible say about the willingness of Jesus to suffer for sinners?

In Matthew 20:17-19, Jesus affirms His willingness to suffer at the hands of the chief priests and Gentiles, indicating that His suffering and death were part of God's eternal purpose. He was aware of His mission from the beginning, coming to accomplish the redemption of God’s chosen people through His sacrificial death. This underscores the covenant of grace established between the Father and the Son, where Jesus willingly accepts the role of Savior, embodying the unity of will between Him and the Father in the plan of salvation.