All of us do at times consciously choose to act in ways that dishonor and even insult God. In other words, we sin. We choose our will over his. We ignore his commands and do as we please. And that brings guilt.
Guilt is like a dead fish lying on a white tablecloth in a hot, humid dining room.
We can pretend the fish doesn't exist, but our belief won't keep it from staining the tablecloth and smelling up the house. Most of us try to deal with it in at least one of three major ways. And the first two don't work for long. We try to justify our sinful actions. We steal supplies from the office, and we tell ourselves we're entitled to them.