There is no condemnation now for those who live in union with Christ Jesus.
For the law of the Spirit, which brings us life in union with Christ Jesus, has set me a free from the law of sin and death.
What the Law could not do, because human nature was weak, God did. He condemned sin in human nature by sending his own Son, who came with a nature like our sinful nature, to do away with sin.
God did this so that the righteous demands of the Law might be fully satisfied in us who live according to the Spirit, and not according to human nature.
Those who live as their human nature tells them to, have their minds controlled by what human nature wants. Those who live as the Spirit tells them to, have their minds controlled by what the Spirit wants.
To be controlled by human nature results in death; to be controlled by the Spirit results in life and peace.