despite our sinfulness, will we still go to heaven?

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do you believe in heaven? if you do, you also believe that only those who do good can go to heaven. So in this world filled with sin and temptations, in a world where people, including us, sometimes cannot help but be greedy, selfish, lustful and insensitive about others' feelings and needs, how can we be sure that we will go to heaven? of course most of us are afraid of going to hell. But if we really are, why are we still committing sinful acts? so is there anything that we hold on to, that assure us that we will still go to heaven and not hell, even if we sin? Or is the sinfulness just caused by the fact that an increasing number of people do not believe in the existence of heaven or hell anymore?