Legalists set aside Yahuwah’s mercy and grace. The Pharisees were legalists. Legalism teaches that we can by our own efforts keep the law and that we are saved by keeping the law. Highlighting the importance of keeping Yahuwah’s law is not legalism. The whole universe is controlled by laws ranging from physical laws to social laws. The controversy in heaven started when Satan rebelled against Yahuwah’s law stating that it was unnecessary and harmful.
All legalism, all the sorrow for sin will not give you one moment of relief. You cannot rightly estimate sin. You must accept Yahuwah's estimate, and it is heavy indeed. If you bore the guilt of your sin, it would crush you; but the sinless One has taken your place, and though undeserving, He has borne your guilt. By accepting the provision Yahuwah has made, you may stand free before Him in the merit and virtue of your Substitute.
James sums up the relationship between faith and works, legalism and grace:
“Even so faith, if it hath not works, is dead, being alone. Yea, a man may say, Thou hast faith, and I have works: shew me thy faith without thy works, and I will shew thee my faith by my works. Thou believest that there is one Eloah; thou doest well: the devils also believe, and tremble. But wilt thou know, O vain man, that faith without works is dead? Was not Abraham our father justified by works, when he had offered Isaac his son upon the altar? Seest thou how faith wrought with his works, and by works was faith made perfect? And the scripture was fulfilled which saith, Abraham believed Yahuwah, and it was imputed unto him for righteousness: and he was called the Friend of Yahuwah. Ye see then how that by works a man is justified, and not by faith only. Likewise also was not Rahab the harlot justified by works, when she had received the messengers, and had sent them out another way? For as the body without the spirit is dead, so faith without works is dead also.” (James 2:17-26)