Bonhoeffer knew that to live in fear of incurring ” guilt” was itself sinful. God wanted his beloved children to operate out of freedom and joy to do what was right and good, not out of fear of making a mistake. To live in fear and guilt was to be “religious” in the pejorative sense that Bonhoeffer so often talked and preached about.He know that to act freely could mean inadvertently doing wrong and incurring guilt. In fact, he felt that living this way meant that it was impossible to avoid incurring guilt, but if one wished to live responsibly and fully, one would be willing to do so.
About Bonhoeffer from Mataxas biography on Bonhoeffer