Jesus freely chose to die. No wonder that a current internet site asks rhetorically if He were not complicit in His own death?
Jesus says over and over again (John 10:18; 19:34; Mt 26:52-54) that He has the power to lay down His life and to take it up again. He could have had those twelve legions of angels (about 62,000 angels!) to protect Him from that cohort of temple guard (about 15 men), which came to arrest Him. Obviously He could have avoided the passion and the cross. He chose not to do so − and the reason was the Will of His Father. The dialogue between Father and Son in the garden reveal Jesus’ accepting the Father’s will.
That however opens the question debated through the centuries of why the Father willed the cross for His son.
Understanding that the Son of God became like us in all things, except sin, gives us a hint of the answer: Jesus became like us in all the ways, including in the hurt and pain which our sin and the sin of others brings pain into our lives. There would never live a human who would suffer anything worse than He did during that passion.
The Son of God even was able to suffer the pain of feeling abandoned to the point that He used the words of Psalm 22, "My God, my God, why have you abandoned me?"
Everything that we have gone through, Jesus went through, so that we now can be raised up with Him to new life – in this world and for all eternity. Jesus freely chose to die so that we can freely choose really to live.