Jesus was physically crucified on the cross at Calvary. Although He never did any sin, He took upon Himself the punishment for sin, which was death, so He could pay our debts and forgive us our sins if we are willing to believe in Him and follow Him.
The Apostle Paul wrote: “I have been crucified with Christ…” Galatians 2:20. Paul was not crucified on a physical cross. He uses this expression as a symbol to describe that our sins should “be crucified”, should be “on the cross”, should die, and should therefore not control our actions anymore. A person who lives a “crucified life” is someone who doesn’t let sin control his actions anymore, he overcomes sin.