Hello Nevin, first off, welcome to CChat
As far as your question goes, here's a verse of Paul's that comes to mind.
Romans 12
15 Rejoice with those who rejoice, and weep with those who weep.
God bless you!! (1 Thessalonians 5:23-24)
~Deuteronomy (David)
p.s. - Here are a few more verses from the Apostle Paul that seem to be along the lines of what you are after. BTW, Paul is my best guess as the human author of the Book of Hebrews, so I included a verse from Hebrews 13, as well.
Romans 15
1 We who are strong ought to bear the weaknesses of those without strength and not just please ourselves.
1 Corinthians 9
20 To the Jews I became like a Jew, to win the Jews. To those under the law I became like one under the law (though I myself am not under the law), to win those under the law.
21 To those without the law I became like one without the law (though I am not outside the law of God but am under the law of Christ), to win those without the law.
22 To the weak I became weak, to win the weak. I have become all things to all people so that by all possible means I might save some.
Philippians 2
3 Do nothing from selfishness or empty conceit, but with humility of mind let each of you regard one another as more important than himself;
4 do not merely look out for your own personal interests, but also for the interests of others.
Hebrew 13
3 Remember the prisoners, as though in prison with them, and those who are ill-treated, since you yourselves also are in the body.