Reading from the Book of Isaiah 53:3-7
He is despised and rejected of men; a man of sorrows, and acquainted with grief: and we hid as it were our faces from him; he was despised, and we esteemed him not.4Surely he hath borne our griefs, and carried our sorrows: yet we did esteem him stricken, smitten of God, and afflicted.5But he was wounded for our transgressions, he was bruised for our iniquities: the chastisement of our peace was upon him; and with his stripes we are healed.6All we like sheep have gone astray; we have turned every one to his own way; and the LORD hath laid on him the iniquity of us all.7He was oppressed, and he was afflicted, yet he opened not his mouth: he is brought as a lamb to the slaughter, and as a sheep before her shearers is dumb, so he openeth not his mouth.
Jesus did not seem to let the fact that He was despised and rejected bother Him. He certainly did not complain about it. I am sure He felt intense pain, just as you and I do when we are rejected, but He did not allow it to prevent Him from fulfilling His purpose.
The beatings that He received, the wounds that shed His blood, the chastisement and ridicule He endured, was all for His children, that we believe in Him and turn to Him.
If condemnation is filling our consciences, it is not from God. He sent Jesus to die for us to pay the price for our sins. Jesus bore our sin and the guilty condemnation that accompanies sin. We should get rid of the sin and not keep the guilt. Once God breaks the yolk of sin from us, He removes the guilt too. He is faithful and just to forgive all of our sins and to continuously cleanse us from all unrighteousness.
His "death on a cross" with the shedding of His blood is the way to remove all our sin.