In the Gospels, Jesus regularly ate with sinners. This is the case even for those who are often rejected in the New Testament, such as tax collectors and prostitutes. This is kind of surprising, isn't it? Absolutely! However, Jesus did not eat with them simply for the sake of physical nourishment. He was teaching them while they ate together.
Near the end of the Gospel of Matthew, Jesus shares the Parable of the Two Sons. In the story, the first son doesn't remain disobedient. He changes his mind. He goes to the vineyard as his father commanded. He is obedient and does his will. We can also change our minds, and seek to follow the will of God the Father.