For God did not send his Son into the world to condemn the world, but to save the world through him.
Also, I Corinthians 5:1-13 explains it REALLY well.
It's pretty simple, have the attitude that Jesus had towards people. You don't really have to qualm about all of the small stuff. What was His nature? It doesn't mean that there is no such thing as sin at all. It doesn't mean that it is a free for all. It doesn't mean that we can't say that folks shouldn't do certain things. It simply means that we lead with love first. Period.
Romans 2 - You, therefore, have no excuse, you who pass judgment on someone else, for at whatever point you judge another, you are condemning yourself, because you who pass judgment do the same things. 2*Now we know that God’s judgment against those who do such things is based on truth. 3*So when you, a mere human being, pass judgment on them and yet do the same things, do you think you will escape God’s judgment? 4*Or do you show contempt for the riches of his kindness, forbearance and patience, not realizing that God’s kindness is intended to lead you to repentance?