It may be perhaps a question, whether St. Paul did mean that we sin as oft as ever we go about any thing, without an express intent and purpose to obey God therein. He saith of himself, “I do in all things please all men, seeking not mine own commodity but” rather the good “of many, that they may be saved.” Shall it hereupon be thought that St. Paul did not move either hand or foot, but with express intent even thereby to further the common salvation of men? We move, we sleep, we take the cup at the hand of our friend, a number of things we oftentimes do, only to satisfy some natural desire, without present, express, and actual reference unto any commandment of God. Unto his glory even these things are done which we naturally perform, and not only that which morally and spiritually we do. For by every effect proceeding from the most concealed instincts of nature His power is made manifest. But it doth not therefore follow that of necessity we shall sin, unless we expressly intend this in every such particular.

Richard Hooker, Laws of Ecclesiastical Polity, Book II