Jesus says "Come, follow me" (Luke 18:22; cf. Matthew 4:19; Mark 1:17). The essence of following Jesus is through loving God "with all of your heart, with all of your soul, with all of your mind, and with all of your strength," and loving one another as Jesus loves us (Mark 12:30-31; Matthew 22:37-40; Luke 10:27; John 13:24, 15:12). "To love is to will the good of another" (CCC, no. 1766). We exemplify our worship of God when we follow God's will to love as manifested in the person and life of Jesus.
Sin is the refusal to love. There are many times when we will fail to do this. On these occasions, we are called to acknowledge and repent of our failure and, through God's grace and empowered by the Holy Spirit, to strive to love better the next time.