You can’t be a disciple of Jesus and willfully continue to live in sin. Sin will repulse a regenerated heart. The apostle John had much to say about this in his first epistle. He defined sin as practicing lawlessness (1 John 3:4). Another way to say this might be that we sin whenever we rebel against God’s laws. Continuing on a few verses later, John makes it clear if we are born again (born of God), we will not make a practice of sinning (1 John 3:9).
We can’t do that because God abides in us and sin is abhorrent to Him. As human beings, we will sin. We’re not perfect. But as followers of Jesus, we won’t make a habit of sinning. When we sin, we will immediately be horrified by our failure and repent of it.