“When we read that Christ was led away from the judgment-seat to execution, and was crucified between thieves, we have a fulfillment of the prophecy which is quoted by the Evangelist, "He was numbered with the transgressors," (Isaiah 53:12; Mark 15:28.) Why was it so? That he might bear the character of a sinner, not of a just or innocent person, inasmuch as he met death on account not of innocence, but of sin.
“On the other hand, when we read that he was acquitted by the same lips that condemned him, (for Pilate was forced once and again to bear public testimony to his innocence,) let us call to mind what is said by another prophet, "I restored that which I took not away," (Psalm 69:4.) Thus we perceive Christ representing the character of a sinner and a criminal, while, at the same time, his innocence shines forth, and it becomes manifest that he suffers for another's and not for his own crime. He therefore suffered under Pontius Pilate, being thus, by the formal sentence of the judge, ranked among criminals, and yet he is declared innocent by the same judge, when he affirms that he finds no cause of death in him.
“Our acquittal is in this that the guilt which made us liable to punishment was transferred to the head of the Son of God, (Isaiah 53:12.) We must specially remember this substitution in order that we may not be all our lives in trepidation and anxiety, as if the just vengeance which the Son of God transferred to himself, were still impending over us.”
John Calvin, Insitutes: Book 2.16.5