17 Now Jesus, going up to Jerusalem, took the twelve disciples aside on the road and said to them,
18 “Behold, we are going up to Jerusalem, and the Son of Man will be betrayed to the chief priests and to the scribes; and they will condemn Him to death,
19 and deliver Him to the Gentiles to mock and to scourge and to crucify. And the third day He will rise again.”
This conversation also appears in Mark 10:32-34 and Luke 18:31-34 (in which we learn that the twelve understood none of what He said).
Jesus also foretold His death in Matthew 12:38-42; 16:21-28; 17:22-23. He knew exactly what was about to happen, but He never wavered from His determination to do His Father’s will.
Jesus never mentioned the cross to His disciples without also mentioning the resurrection.