Pay close attention to the word "joy" in this verse. Jesus...who for the joy...endured the cross. Despite all Christ faced in dying on the cross, for the joy that was set before him...what joy? The joy of knowing who God is and being obedient all the way to the cross, the grave, the resurrection and now sits at the right hand of the throne of God.
We as Christians also have joy in knowing that God is with us despite any hardships we face. Just as Jesus knew His Father would never fail, we too know that God, our Father will never fail us either. No matter what we go through. Christ shows us who God is through the cross.
Get a hold of this truth and be joyful!
This is our God!
This is our Father, our Savior, our Lord, our King!
And He is coming back and we shall reign with him forever.
Looking unto Jesus the author and finisher of our faith; who for the joy that was set before him endured the cross, despising the shame, and is set down at the right hand of the throne of God.