Note 9 at Ac 2:23: This scripture, combined with the Old Testament prophecies (see note 1 at Mt 26:24) and Jesus' own words concerning His death and resurrection (see note 1 at Mt 16:21), leaves no doubt that the crucifixion didn't just happen. It was planned by God.

Does that mean that God bears all responsibility, and those who actually were instrumental in the rejection and crucifixion of Jesus are not guilty? Not at all. Jesus came to the earth to die in our place and thereby purchase redemption for us. That was His plan. But He didn't force anyone to fulfill it. His ministry and message placed Him in direct opposition with the devil and his followers. Their hatred for Jesus caused them, of their own free will, to crucify Jesus.

God, in all His wisdom, simply knew what man would do, and He determined to use their rejection of His Son to accomplish His will. He never controls our will to accomplish His (see note 3 at Lu 19:42).