Avoiding Legalism

Legalism is a term that gets thrown around an awful lot in Christian circles. But what exactly is legalism, and how can I be sure that I'm not one? How can I genuinely seek to obey the Lord without crossing the line into legalism? -- This is my first video-based episode of the podcast. Here's a link to the YouTube Channel - https://www.youtube.com/channel/UCZj8jjWs8t5Eh7N775GlVKw -- I also am a part of another podcast that dives deep into theology from a Reformed perspective. Check that out here https://cowfordcatechism.buzzsprout.com