John 13 records Jesus washing the dirty feet of the Apostles. He did this to show an example of Servant-leadership. Peter rejected this and, at first, would not allow his Master to wash his dirty feet as if Jesus was his servant. Jesus responded, "Unless I wash you, you have no part with me." Jesus, I believe, was speaking of relationship. Peter then replied, "not just my feet but my hands and my head as well!" Peter knew he wanted a full and complete relationship with Jesus. However he was still missing the point that true relationship means serving one another. Jesus then said,"A person who has had a bath needs only to wash his feet; his whole body is clean. And you are clean...". Jesus, I believe, was telling Peter that one who has already submitted their life to Christ is "clean"; however, even a Christ-follower, living in (walking in) a broken world filled with pain, struggle, brokenness and temptation will sometimes stumble (sin=dirty feet) and is in need of cleansing. This cleansing is done through, or the result of, confession and repentance...calling out to God with sincerity, transparency and truth of our rebellion against Him,turning away from sin and turning to God.
This is the story of God's grace to me. It may be your story as well...only you can say.