Romans 6:12-14 NIV
Therefore do not let sin reign in your mortal body so that you obey its evil desires.  Do not offer any part of yourself to sin as an instrument of wickedness, but rather offer yourselves to God as those who have been brought from death to life; and offer every part of yourself to him as an instrument of righteousness.  For sin shall no longer be your master, because you are not under the law, but under grace.
Whilst this could be read as an order to not sin, which in my experience only leads to feelings of inadequacy and guilt. There is at the start a warning, but it turns from there to the language of prayer and worship, call to give our lives over to God so that by his Spirit he can use them for his glory and for the good of his creation. This is the true meaning of baptism.
Father, my heart, my mind, my hands and my feet are yours. Use them as you will.