I have, it would be easy to get in to a scripture crossfire here, which would just serve the purpose of making people think the bible contradicts or is somehow incorrect as some would like to say..
What I will ask is why did God need to send his only begotten son , Jesus, if we can keep the commands perfectly and be sinless before God, why did Jesus need to come...
Good questions.
We cannot keep the commandments perfectly without His Son. We will stumble, fall, and fail miserably. We will never be sinless. Even in our efforts to follow Him, we falter. We can overcome sin with Jesus' help, but overcoming sin does not make us sinless, because
we have sinned. We cannot come unto the Father stained. Our stains must be cleansed. Only the blood of the Lamb can cleanse us. But what use is it to cleanse us from the stains if we still hold fast to the source of the stains? We first must let go of sin to be cleansed.
God
prepared a way for us to escape temptation, so that we can bear it. (1 Corinthians 10:13) Jesus showed us
that prepared way in His living examples, and taught us how in word. Jesus had to come so we could take His yoke upon us. A yoke is a harness that couples two beasts of burden, plowing fields for example. The burdens of keeping the commandments is more than we can do alone.
Matthew 11: 29 Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls.
30 For my yoke is easy, and my burden is light.
It is learning to love, as Jesus loves, that empowers us to overcome evil. We are selfish and full of pride in our carnal state. When we love Jesus more than the things of the world, the burden becomes light. When we have something greater to love, then we loose interest in the world. By that standard, we are no longer carnal. Why do we love God? Because He first loved us. That is why God sent His Son, because He loves us! How do we know that we love God? "If ye love me, keep my commandments."