We will continue to sin until we are in the direct presence of God, so there will always be occasions when we disbelieve the Lord and transgress His law. Our need for perfection has been met in Christ, and He alone is the One in whom we will stand before the Father unafraid. In the meantime, the Lord desires faithfulness from us, namely, an effort to know His law, love His law, and repent when we fail to do His law.
What motivates you to do good works? Are you serving your neighbor solely out of a desire to please the Lord, or are you doing so just because it makes you feel good? Perhaps you just enjoy the recognition that comes when others see you obeying the law of God? Take some time to ask yourself what drives you to do good deeds. In prayer ask God to purify your motivations and then be careful about doing things simply for the sake of earthly recognition.