I am a sinner who's probably gonna sin again
Lord forgive me, Lord forgive me things I don't understand
Sometimes I need to be alone
Kendrick humbly acknowledges that he is a human who makes mistakes. The skit leading into this song is his father wanting to listen to his complaining Kendrick/his mother are “killin' [his] muthafuckin' vibe.” His dad might use drinking and listening to music as a means of escape from this life.
Others believe to sin is to doubt of god. So, because Kendrick doesn’t understand some things, he acts sinfully and doubts god.
This might be Kendrick’s prayer and confession, for the lack of understanding that misguides him.
Saying “sometimes I need to be alone” refers back to peer pressure. He knows he won´t act bad when he´s alone because deep in his mind he knows what he is doing is wrong “The Art of Peer Pressure”
Usually I’m drug free
But shit, I’m with the homies…
It’s ironic, cause I never been violent
Until I’m with the homies
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