He didn't condemn them and go in and preach to them as if he were better than them. He was their friend. He walked in love. He saw them in their state and as any good friend does, he tried to help them along the pathway of THE life.
I have spent many hours lately discussing topics most of which I know nothing about just to become a friend of sinners. I have talked about video games, patents, inventions, books, institutions, and general life to just be there as a friend. Many I don't even know personally.
Paul did this. It is documented in 1 Corinthians 9:19:23 were he wrote:
Even though I am free of the demands and expectations of everyone, I have voluntarily become a servant to any and all in order to reach a wide range of people: religious, nonreligious, meticulous moralists, loose-living immoralists, the defeated, the demoralized—whoever. I didn't take on their way of life. I kept my bearings in Christ—but I entered their world and tried to experience things from their point of view. I've become just about every sort of servant there is in my attempts to lead those I meet into a God-saved life. I did all this because of the Message. I didn't just want to talk about it; I wanted to be in on it!
Selah. (Hebraic term which means to pause, comprehend. In modern day term, think about it!) Need I say more.