Shortly before he was seized by Roman soldiers Jesus asked God to allow Him to escape death on the cross if it was His will as this verses describe:
Matthew 26:39 (Contemporary English Version)
39Jesus walked on a little way. Then he knelt with his face to the ground and prayed, "My Father, if it is possible, don't make me suffer by having me drink from this cup. But do what you want, and not what I want."
Matthew 26:42 (Contemporary English Version)
Again Jesus went to pray and said, "My Father, if there is no other way, and I must suffer, I will do what you want."