But now God has shown us a way to be made right with him without keeping the requirements of the law, as was promised in the writings of Moses and the prophets long ago. We are made right with God by placing our faith in Jesus Christ. And this is true for everyone who believes, no matter who we are.
For everyone has sinned; we all fall short of God’s glorious standard. Yet God, in his grace, freely makes us right in his sight. He did this through Christ Jesus when he freed us from the penalty for our sins." - Romans 3:20-24 (NLT)"
Starting in verse 20, the apostle Paul lays it out: No one can ever be made right with God by following the law (the Ten Commandments and the hundreds of other laws laid out in the Old Testament). Why is there a law then? He answers that in verse 20 also: To show us how sinful we are. The law was made to define sin and as such, point us to the coming Messiah, Jesus Christ.
In verse 21, Paul points out that God has shown us a way to be made right with Him without keeping the requirements of the law. We are made right with God by one thing: Placing our faith in Jesus Christ. Jesus said in John 14:6, "I am the Way, the Truth, and the Life. No one comes to the Father except by Me." It's not because we're so wonderful and so good. We're not. Verse 23 tells us plainly that all have sinned and fall short of God's glorious standard. We need a Savior! And Jesus is that Savior, if you turn your life over to Him.
Verse 24 tells us that God, by His grace, freely makes us right in His sight by Jesus' sacrifice for our sins on the cross. See, Jesus took the punishment for you and me. When He was on the cross, all of our sins, our mistakes, our errors, and all of God's wrath towards us was poured out on the one Man in history that was completely and totally perfect. Because God poured out His wrath on us for all of our sins onto the perfect sacrifice that is Jesus, now God can impute Jesus' righteousness onto us if we just trust in Him. It doesn't matter what you have done or how far you have gone. God can forgive anything except one thing: Not believing on Jesus Christ. That's the only way to get to heaven. It's not by the good things you've done, it's not by your charming character, but only by accepting Jesus' sacrifice. Here's a video that helps demonstrate this point:
There aren't any conditions. You don't need to clean up before you come to Jesus. Come to Jesus and let Him do the work inside of You. I promise you He will.