Yes, they met in season 6. Rick and Daryl ran into Jesus in a kind of Benny the Hill type of episode. They ended up capturing him and taking Jesus back to Alexandria. Jesus surprised Rick and Michonne in bed and told them “We need to talk”. In season 6 episode 11, Carl points a gun at Jesus’ head while they wait for Rick and Michonne to get dressed.
Thank you, seriously.
You have a much better memory of the details than me.
I’m more of a ‘big picture’ kind of guy.