We need to search the Scriptures to find out how to live pleasing to the Lord in this world. We can't do this within ourselves. God had a plan for us by sending Jesus Christ to die on the cross for our salvation, so through Christ we can live right.

Jesus taught His disciples to say when praying, "Our Father which art in heaven, Hallowed be thy name. Thy kingdom come. Thy will be done in earth, as it is in heaven." Now, if angels in heaven sinned, then God's will was not done in heaven.