Live your life so that if anyone ever said anything bad about you, no one would believe it.
When you do what you do from a place of great authenticity and deep sense of noble purpose, you may not always do what is right but you will always do what you think is right.
No one should ever feel bad or guilty for making a mistake in trying to do the right thing.
To live in fear of making mistakes is a lifetime prison sentence no one should have to endure.