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In verses sixteen and seventeen, Paul tells us that we have the choice to be slaves to sin or righteousness. All people choose a master and pattern themselves after him/her. Without Jesus, we would have no choice but to model ourselves after sin. Thanks to Jesus, we can choose God as our Master. In verse seventeen Paul tells us to obey wholeheartedly. To obey wholeheartedly means to give yourself fully to God. It should be our daily objective, as Christians, to ask God to give us the power to obey him with all our heart.

Romans 6:15-17
15 What then? Shall we sin because we are not under the law but under grace? By no means! 16 Don’t you know that when you offer yourselves to someone as obedient slaves, you are slaves of the one you obey—whether you are slaves to sin, which leads to death, or to obedience, which leads to righteousness? 17 But thanks be to God that, though you used to be slaves to sin, you have come to obey from your heart the pattern of teaching that has now claimed your allegiance.