Understanding Dispensations (God's progressive modes of relating to man) clears up any seeming difference between Jesus & Paul. Jesus was sent to the lost sheep of Israel, but Paul was an Apostle to the gentiles.
Israel got to keep their beloved LAW (as they wished), and believing Gentiles were grafted into the family of God and inherited the gift of GRACE.
The appearance of Jesus, the long promised Messiah represented a major transitional event from one dispensation to another. Each dispensation (mode in which God deals with man), always ends with 1. The Failure of Man 2. Judgement & 3. A New Beginning.
Using a dispensational template, to "rightly divide the word of God", it becomes apparent that many of Jesus words were spoken to the Jews that were living then (before the age of Grace) AND to the Jews that will be alive during the Great Tribulation (after the age of Grace but before the Millennium). Whereas Paul's message was mainly directed to those living during the age of Grace.