The Pharisees and the scribes mimic scandal when they see that Jesus keeps company with tax collectors and sinners. This scandal is itself a lie, and Jesus uses the parable of the Prodigal Son to teach the truth.
God is patient with each of us and all of us. Like the loving father who rejoices when his sinful son returns, God rejoices in the company of repentant sinners.
O Jesus, You spent most of Your time on earth searching out those most in need. By keeping company with sinners, You saved many and You shamed the self righteous.