Jesus endured the cross despicing the shame, for the joy that was set before Him. It was the joy of our redemption, the joy of our reconciliation to God, the joy of the defeat of Satan, the joy of victory over death, the joy of generations unborn becoming sons and daughters of God. It was also the joy of God's faithfulness. The crucifixion of Jesus on the cross has given us freedom to worship God in spirit and in truth.