How do you know you're doing things right about yourself and life? If you look back to the past and see a positive evolution. Mistakes included. Cause if you don't make mistakes, it's simply because you're not living.
I always remember what a techaer said when I was 14 or so.. Something like "I'm not perfect and I don't want to be. Cause just something finished can be perfect, and I'm not done. I'm learning".