David asks:

"How are we all going to be in heaven someday and not screw it up?"
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In heaven, we will choose to worship God, among other things, while retaining our individual personalities, memories and free will. But isn’t free will what got the world into this broken mess in the first place? Does free will go away? If not, what changes us there so deeply that all the friction of existence evaporates?
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I think the reason we will all get along so well despite our individuality will be the shift in perspective we’ll gain from knowing God.

...and references Paul.

In a word, agreed.

Remember when VHS and Beta were both out and consumers needed to pick a side? Even though most consumers firmly made their choice, there may still have been some doubt as to which would win out in the long run. Eventually, VHS proved to be the dominant one, the one offering the most available movies. When this new perspective (hindsight) was available, the decision to go with VHS was easily affirmed without a doubt. At this later point, the VHSers would never change their minds and go back to Beta. They still retained their free will, but their decisions were voluntarily final. (Apologies to any Beta purists for this analogy.)

Likewise, when the reality of the Lord and His awesome "Holiness, Presence, Glory, Worship, Love, Light, Fellowship, Forgiveness" truly sinks in, there will be no decisions to sin and no loss of free will. (Note that an option never chosen is not a lack of free will.)

I think we can actually get a foretaste of this in the here and now, even if only "in a mirror dimly." The more His Presence is real to us, the more we can adopt His perspective. Naturally, we'll be limited by our sinful flesh, but we can see through His eyes far more than most of us realize. Brother Lawrence spoke about this. Prayer is a huge component to this. Remaining in the Word is also very important. He took the time to write down much of His character; we'd be fools to miss this straightforward way of adopting His perspective. As we are transformed, our will increasingly submitting to His, we take on more and more of His character without much effort. Increasingly, we exercise our free will by choosing righteousness rather than sin. Without sinful flesh--in our resurrected bodies--consistently righteous choices will be assured, and heaven won't get screwed up.