who saved us and called us to a holy calling, not because of our works but because of his own purpose and grace, which he gave us in Christ Jesus before the ages began. — 2 Timothy 1:9

A truly amazing part of the death of Jesus Christ was that it was done willingly, out of perfect obedience to His Father. Returning once again to Fifty Reasons Jesus Came To Die, we see John Piper put it this way (my emphasis):

Jesus did not wrestle his angry Father to the floor of heaven and take the whip out of his hand. He did not force him to be mer- ciful to humanity. His death was not the begrudging consent of God to be lenient to sinners. No, what Jesus did when he suffered and died was the Father’s idea. It was a breathtaking strategy, conceived even before creation, as God saw and planned the history of the world. That is why the Bible speaks of God’s “purpose and grace, which he gave us in Christ Jesus before the ages began” (2 Timothy 1:9).

The idea that God had planned for the death of Jesus to satisfy justice before any history took place is astounding and shows God’s great love. As we have talked about, it is a high standard that God sets, but it is an equally great love He shows in providing a way for us who fall way short of that standard. The fact that it says in Ephesians 5:2 that “Christ loved us and gave himself up for us, a fragrant offering and sacrifice to God” shows that not only was the death of Jesus a willing act of love, but that it pleased His Father at the same time.

We have been saved not by some begrudging arm twisting, but by a beautiful act of obedience. It is well worth our time to consider this and worship the one who has not only planned this by done it for us out of love.

For this reason the Father loves me, because I lay down my life that I may take it up again. No one takes it from me, but I lay it down of my own accord. I have authority to lay it down, and I have authority to take it up again. This charge I have received from my Father. — the words of Jesus in John 10:17-18