Guilt and shame are when we look bad to ourselves, when we feel like (see ourselves such that) we deserve to look bad to ourselves. Maybe God (truth and legitimacy) agrees, maybe not. But God loves us more than we do, or than other people love us. You can ask yourself, when guilty or ashamed "Does God care about this? Or is this my idea, or other people's idea?" Sometimes you do the wrong thing, and it really is wrong. But what do you think God thinks of it?