Worrying of committed a sin? - Bhagavad gita 9.30

Bg. 9.30

अपि चेत्सुदुराचारो भजते मामनन्यभाक् ।

साधुरेव स मन्तव्य: सम्यग्व्यवसितो हि स: ॥ ३० ॥

Even if one commits the most abominable action, if he is engaged in devotional service he is to be considered saintly because he is properly situated in his determination.