Yes, Jesus stated that it was necessary for Him to suffer in order to bring us eternal life. Thus, He said, “And as Moses lifted up the serpent in the wilderness, so must the Son of man be lifted up, that whoever believes in him may have eternal life” (John 3:14-15).
After His Resurrection, Jesus said, “Was it not necessary that the Christ should suffer these things and enter into his glory?” (Luke 24:26).
Centuries before Christ’s Passion and Death, the Old Testament prophets prophesied them. The Suffering Servant passages of Isaiah are particularly noteworthy (cf. Isaiah 53). Speaking of the fulfillment of these ancient prophecies, Jesus said, “Everything written about me in the law of Moses and the prophets and the psalms must be fulfilled” (Luke 24:44).
Speaking of His heavenly Father’s will for Him, Jesus exclaimed, “For this reason the Father loves me, because I lay down my life, that I may take it again” (John 10:17). Jesus, with perfect freedom, lovingly accepted this heavy burden placed upon Him so that we might be saved. “No one takes it from me, but I lay it down of my own accord. I have power to lay it down, and I have power to take it again; this charge I have received from my Father” (John 10:18).