'Undergo' in the Bible
“Now My soul is troubled and deeply distressed; what shall I say? ‘Father, save Me from this hour [of trial and agony]’? But it is for this [very] purpose that I have come to this hour [this time and place].
And so God has fulfilled what He foretold by the mouth of all the prophets, that His Christ (Messiah, Anointed) would suffer.
And [as for the fact] that He raised Him from the dead, never again to return to decay [in the grave], He has spoken in this way: ‘I will give you the holy and sure blessings of David [those blessings and mercies that were promised to him].’
For this reason He also says in another Psalm, ‘You will not allow Your Holy One to see decay.’
For David, after he had served the purpose of God in his own generation, fell asleep and was buried among his fathers and experienced decay [in the grave];
But if we are troubled and distressed, it is for your comfort and salvation; or if we are comforted and encouraged, it is for your comfort, which works [in you] when you patiently endure the same sufferings which we experience.