Paul rebukes Peter for his hypocrisy and how his actions don't communicate the truth of the gospel to Jews and Gentiles. The grace of God motivates people to obey God based on total undeserved acceptance and contrasts legalism, where acceptance before God is based on our works or by obeying the law. Once we know Christ, the new identity we have through his death allows us to serve God out of grace, and not push us towards a lifestyle of active rebellion and sin towards God.
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