"If we do what's right, we have no need to fear." 

What this quote defines is that you should have no fear in doing what's right. If you want to do something but nobody agrees with you, just do it. you shouldn't be afraid of doing what's right and what you believe in. You should never fear if your option is to always choose the right. For example, if you struggle on what to do just know that you should choose what's right. Another example is if you see a homeless person and he comes up to you and ask you for change and you give him what he ask for then you'll for sure feel so proud of yourself because you did what's right and therefore you won't feel guilty nor fear for yourself. An example of doing wrong is you witnessing something and do nothing about it knowing you could have done something about it. Therefore you will feel guilty for quite some time and you will have the worst consequence of fearing. Personally, what I really think this quote is telling you is that as long as you do what's right there is no absolute reason you should feel guilty or fear for yourself.