While we remain in a fallen body, we are subject to temptation, and do sin...At least, I do, and then stop it, and begin again to behave more perfectly. There is, however, no condemnation in Yeshua for my failures so long as I remain clinging to him, searching for the center of the straight and narrow path, having the determination to be growing ever closer to sinlessness.
I have no doubt that I sadden Yeshua frequently...how can I not, knowing that I do less than the best that is expected of me? Yet he is aware of my frailty, and has compassion for me, since it is he that is strong. Daily, I pick that stake up again, and attempt to do better at walking in love of G-d and love of man. I do not know how much I fail, because people are too careful of saying to me what I could do better...fortunately, the Ruach is ever present to warn me when I trespass against G-d or against another person. I do know that I do better than I have in the past, and yet I also know how far I still need to go to be anything like Yeshua.
Thus do I turn again and again from sin, doing teshuvah...not mere regretting that the sin was done, but determining to succeed at refraining from that sin, even though I know that until I am in a perfected form, with the New Covenant fully written in me, I will fail. I hope merely to fail less and less as I walk after Yeshua.