A.T. Robertson Commentary Mark 15:43

"there came Joseph of Arimathaea, a councillor of honorable estate, who also himself was looking for the kingdom of God; and he boldly went in unto Pilate, and asked for the body of Jesus." — Mark 15:43 (ASV)

A councillor of honourable estate (ευσχημων βουλευτης). A senator or member of the Sanhedrin of high standing, rich (Matthew 27:57).

Looking for the Kingdom of God (ην προσδεχομενος την βασιλειαν του θεου). Periphrastic imperfect. Also Lu 23:51. The very verb used by Luke of Simeon and Anna (Luke 2:25,38). Matthew 27:57 calls him "Jesus' disciple" while Joh 19:38 adds "secretly for fear of the Jews." He had evidently taken no public stand for Jesus before now.

Boldly (τολμησας). Aorist (ingressive) active participle, becoming bold. It is the glory of Joseph and Nicodemus, secret disciples of Jesus, that they took a bold stand when the rest were in terror and dismay. That is love psychology, paradoxical as it may seem.