Jesus shows the distinction between unrighteous judgment and needed discernment and judgment. Discerning judgment is based on moral right and wrong from God's Word and is centered around truth and falsehood. On the other hand, unrighteous judgment concerns itself with judging others' motives and condemning others. When we humbly focus on our own personal character growth with God instead of focusing on others failings, God is able to help us avoid self-righteous judgment and look to help others to grow with God.
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