The Bible teaches the need of man to feel guilt. Without guilt there is no grace. Without condemnation there is no salvation. We are sinners, worthy of condemnation. But we make a mistake to present the plight of man without the plan of God, to speak of guilt without grace.
Condemnation merely opens the door to grace and salvation.
Men need to accept the forgiveness of God. Guilt is solved by forgiveness. Many are quilt-ridden unnecessarily. In Christ's blood there is cleansing. Regardless of how dark our past may have been, God, through the blood of his son, will cleanse us as we respond to him in faith, repentance, confession and baptism.