Rom 7:6 But now, by dying to what once bound us, we have been released from the law so that we serve in the new way of the Spirit, and not in the old way of the written code.
This is liberating. No longer judged. No longer looking to be justified but liberated to be in relationship with God. You are filled with his Spirit and guided as you yield.
Before, you could only feel guilt for you fail at some point to following the written code. No matter how you try you are always guilty. But what a freedom you have now. Use it and enjoy it.
In yielding through prayer and to his love you can be confident of his leading. If you mess up push restart. This is liberty.