Jesus hung out with heartbroken, the downtrodden, the prostitutes, any one who society usually rejects. The "religious" people didn't like Jesus hanging out with people like that. You're right, they didn't understand God at all. God loves all people.
The Pharisees brought a woman who had 5 husbands and committed adultery to Jesus, thinking she would be punished by law. Their belief was in the law. They didn't believe in God's grace. Jesus was deaf to the woman's accusers.
Jesus said "Cast the first stone, but only he who has not sinned.", they were convicted of their own mind and went away.
Only Jesus and the woman were left. All the accusers gone.
She could have left with her sin and shame. She could have went out continuing to do worldly things, but she stayed instead of joining the rest. She didn't want to leave.
There was light of life. No more darkness.
Jesus asked if anyone is condemning her now. The woman said "No one, Lord." Jesus said, "Neither do I condemn you. Go and sin no more!"
That's a perfect example of God's love and grace. The "religious" types were going by law and the 10 commandments. That no longer applied when Jesus was sent.