For although “the law is not laid down for the righteous,” as the Apostle testifies [1 Tim. 1:9], “but for the unrighteous,” this is not to be understood simply in such a way that the righteous should live without any law.  For God’s law is written in their hearts, and the law was given to the first human being immediately following his creation according to which he was to conduct his life.  Instead, Paul holds that the law cannot burden those whom Christ has reconciled with God with its curse and cannot torment the reborn with its coercion because they delight in the law of the Lord according to their inward persons.

– Solid Declaration of the Formula of Concord, Article VI: The Third Use of the Law, paragraph 5 (Kolb-Wengert translation, page 587)