The Lord's Supper Is a Command

Since the Lord's Supper is a command ("do this in remembrance of me"), it is disobedience not to take part. That means we should not stay away just because we have some sin our lives. Instead we should take part with repentance, being reminded by the bread and the cup that Christ died for sinners like us. I suspect many think that they have to be "worthy" to take part in the Lord's Supper. Actually it means the opposite: At the Table we are confessing again our spiritual bankruptcy and the sufficiency of Christ’s work.

Along this line, Rob Wilkerson has a quote from A Passion for Christ: The Vision that Ignites Ministry by T. F. Torrance et al.

There at the Holy Table I know that I cannot rely on my own faith but only on the vicarious faith of the Lord Jesus in the total substitution of his atoning sacrifice on the Cross. Salvation and justification are by the grace of God alone. Faith, as John Calvin taught, is an empty vessel, so that when you approach the Table of the Lord, it is not upon your faith that you rely, but upon Christ and his Cross alone. That is what the Covenant in his body and blood which the Saviour has forged for us actually, practically, and really means. It is of the very essence of the Gospel that salvation and justification are by the grace of Christ alone, in which he takes your place, that you may have his place.