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What was the relationship between Pontius Pilate and Joseph of Arimathea?

Joseph of Arimathea courageously asked Pilate for the body of Jesus. Pilate gave it to him, after asking the centurion. Mark 15:43-45

What the Bible says

Mark 15:43

Joseph of Arimathea, a noble counsellor, who was also himself looking for the kingdom of God, came and went in boldly to Pilate, and begged the body of Jesus.

Mark 15:45

And when he had understood it by the centurion, he gave the body to Joseph.

Douay-Rheims Bible (Challoner revision), public domain.

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