God didn't mean for us to have the law - he wanted to relationship where he led His people - He'd be their God and they'd be His people. But, His people were fearful of God and wanted another way to be led and to please God other than that relationship. So God gave them the law to show they couldn't behave the way He wanted them to without Him.
It's time to give up our fear and trust the relationship - trust the Spirit - walk in the Spirit. God's happy with you and loves you just the way He made you. Now He wants to help you walk in a way that makes you happy.