If a person is ethical then the next step is selfless, karma yoga. Then the next deeper level is restlessness of the mind. When we are tempted, attracted by something, we cannot control ourselves. We overstep the limits of ethics, of the boundaries of morality. In that case, again we do wrong things.
Swami Sarvapriyananda teaches the Katha Upanishad, one of India's most revered texts which is also a part of the Vedas. It is a collection of philosophical poems representing a conversation between the sage Naciketas and Yama (god of death). They discuss the nature of Atman, Brahman and Moksha(liberation).