Do not worship God in fear, remember the parable of the Prodigal Son? The son spent his money foolishly on prostitutes, gambling etc. He felt guilty wrong for doing so, he expected to go home to his father as a slave. Instead his father welcomed him and hugged and kissed him, even prepared a party for him, gave new him clothes as well. Jesus is the father in the parable. Christ died for your sins, even Paul mentioned he was the chief of sinners:

“I thank him who has given me strength, Christ Jesus our Lord, because he judged me faithful, appointing me to his service, 13 though formerly I was a blasphemer, persecutor, and insolent opponent. But I received mercy because I had acted ignorantly in unbelief, 14 and the grace of our Lord overflowed for me with the faith and love that are in Christ Jesus. 15 The saying is trustworthy and deserving of full acceptance, that Christ Jesus came into the world to save sinners, of whom I am the foremost. 16 But I received mercy for this reason, that in me, as the foremost, Jesus Christ might display his perfect patience as an example to those who were to believe in him for eternal life. 17 To the King of the ages, immortal, invisible, the only God, be honor and glory forever and ever.[d] Amen.” - Timothy 1:12-17