Steps

In Romans 14:23, the apostle Paul wrote, "But whoever has doubts is condemned if they eat, because their eating is not from faith; and everything that does not come from faith is sin."  This passage obviously teaches that to do things you don't believe to be right or from truth is sin.  However, there is a deeper message yet when we interpret it in context.

The context is found in verses that precede, which read in part, "Let us therefore make every effort to do what leads to peace and to mutual edification. Do not destroy the work of God for the sake of food. All food is clean, but it is wrong for a person to eat anything that causes someone else to stumble" (vv. 19-20).

Did you notice the "therefore" following the imperative "let us"?  In chapter 14, Paul was dealing with the controversy of eating meat sacrificed to idols.  To some it was just fine, to others it was just foul.  The question became a point of contention causing division in the body of Christ.  Though Paul was on the side of freedom to consume such meat, he was opposed to causing division on a non-essential matter: whether you ate this meat or not was unimportant so don't make it an issue.

The greater point is that we ought to make life choices that stem from our faith and trust in God, and with deference to his kingdom.  To act out of personal choice alone, disregarding what our faith in God's righteous will is sinful.  To indulge in something not sinful in itself but hurtful to the weaker members of the body of Christ is wrong and therefore sinful.

The overall context is how one chooses to live not simply personal choices about doctrine or ritual.  For instance forgiveness over retribution, encouragement over discouragement, acceptance over judgment are all matters of acting in faith rather than reacting from feeling.  That which comes from our selfish base desires rather than our selfless desire to serve God is sin.  Following in the steps of Jesus is faith; stepping out following our base nature is sin.  Jus' Say'n.