SACRAMENTO, Calif. -- The first openly gay bishop of the Episcopal Church on Tuesday compared the struggle of gays and lesbians to the civil rights movement of the 1960s.

Gene Robinson, who serves as bishop of New Hampshire, met with legislators at the state Capitol on Tuesday morning, then spoke to a large crowd at Trinity Episcopal Cathedral.

He urged parishioners from the lesbian, gay, bisexual and transgender community to "toughen up."

"We want to change the world without paying the price for it. Most of what I've learned about our movement I've learned from the African-American civil rights movement in this country. And those people went out and paid their dues for civil rights, knowing there's going to be dogs and fire hoses and tear gas and maybe death," Robinson said.

"And so you and I, especially if you are in the LGBT community, you and I need to toughen up. And we need to expect suffering," he added.

Robinson also spoke Tuesday evening at the Crest Theatre after a screening of "For The Bible Tells Me So." The bishop is featured in the documentary, which focuses on relations between the gay and lesbian community and Christian churches.

Mayor Heather Fargo and Assemblyman Dave Jones, D-Sacramento, attended and presented resolutions to Robinson.

Robinson will also lead the Eucharist at Trinity Episcopal Cathedral on Wednesday morning.

Robinson, whose appointment has created controversy within his church, was legally joined to partner Mark Andrew in a private civil union in June. The ceremony took place five years to the day after New Hampshire Episcopalians elected him bishop.

He recently penned a novel called "In the Eye of the Storm: Swept to the Center by God."

The church controversy led the San Joaquin diocese to split from the Episcopal Church.

To see a live interview with Robinson, tune in Wednesday to KCRA 3 Reports at 7 a.m. on My58.