Jane and Lisbon first met when he came to the CBI to get information about the Red John case, but he quickly got involved in another case and proved that his mentalist skills could be useful. Virgil Minelli, impressed by Jane's skills, offered him a job as a consultant. That's how he found his way into Lisbon's team.
Over the years, the two of them developed a deep friendship and strong feelings for each other. Lisbon is without a doubt the closest person in Jane's life, and even though he wouldn't mind getting himself killed if that meant catching Red John, he would always choose Lisbon over Red John. This is proven in the season 1 finale when, in order to save Lisbon's life, Jane shoots the only person who could have led him to Red John. Lisbon is the only person that Jane completely trusts and also the only one Jane admitted to that the man he shot in the season 3 finale was not Red John. Jane cares deeply about her, which is exhibited when she's in danger, such as when she gets shot by O'Laughlin in season 3.
Over the years, Jane has developed romantic feelings towards her, which he admits in the season 4 finale. Seconds before fake-shooting her, he hugs her and tells her that he loves her. Later, when she asks him about it, he claims not to remember his words (which is strange given his impeccable memory).
In the first episode of season 5, Red John accomplice Lorelei Martins teases Jane, saying that he's "a little bit in love with Lisbon" and that he only does this job to be close to her. Jane doesn't deny this but instead says that he does it to pass the time.
In the season 5 episode "Devil's Cherry," Jane hallucinates his dead daughter Charlotte after drinking belladonna tea. She teases him a lot about Lisbon (like when she asks if Lisbon has a boyfriend, constantly smirking in their direction and just the look on her face) and makes it obvious that she wants them to be together. Since Charlotte and everything she says is made up by Jane's mind, it's likely that she was just his way of handling the feelings he has for Lisbon.
In the season six premiere, Jane admits that he regrets having told Lisbon about the list of suspects because he's afraid she's in danger. At the end of the episode, Lisbon gets captured by Red John, and he uses her phone to call Jane. When he realizes that Lisbon is in the hands of Red John, Jane looks absolutely horrified.
Even though Jane does love her, as confirmed by Bruno Heller, he knows that his feelings for her could make her a possible target for Red John. Heller also stated that their relationship will change in season 6. They will realize how they really feel about each other and start acting on these feelings.
In the episode "My Blue Heaven," it is revealed that Jane has been writing letters to Lisbon during the two years he has been a fugitive in a South American country following his murder of Red John. When the FBI offers to drop homicide charges if he comes to work for them, his first demand is to work with Lisbon. When they are reunited, he appears delighted and tells her how much he missed her.
In the season 6 finale, "Blue Bird," Jane confesses his romantic love for Lisbon by boarding her DC-bound plane and telling her he loves her. In the final moments of the episode, Lisbon reciprocates his feelings and the two kiss passionately as the screen fades to black.
In the season 7 premiere, "Nothing But Blue Skies," Jane starts a romantic relationship with Lisbon. He agrees with Lisbon's decision to keep it secret from their team.
In the series finale, "White Orchids," Patrick Jane proposes to and marries his longtime partner, Lisbon, in a ceremony on land he bought to build their home. Teresa Lisbon is now his wife. At the end of the episode, Lisbon reveals she is expecting the couple's first child.
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