James 1:13-15 Let no man say when he is tempted, I am tempted of God: for God cannot be tempted with evil, neither tempteth he any man: But every man is tempted, when he is drawn away of his own lust (desire), and enticed.  Then when lust hath conceived, it bringeth forth sin: and sin, when it is finished, bringeth forth death.

When we follow our own desires, that is what sin is.  When we listen to the leading of God and let Him do His works through us, that is righteousness.