Condemnation comes from following strange doctrines. Strange doctrines take us from being content in what God has done for us to doing works that make us believe we are earning favor with God. The fact of the matter is that God isn't the one who is condemning us, we are doing it to ourselves in our own minds.
The word condemnation in the Greek taken from Strong's is:
katakrisis: condemnation
Definition: condemnation
Usage: condemnation, censure.
The way it is typically used in the Bible is showing that man is tricked into punishing, condemning or censuring himself into believing he is not who God says he already is. Also that God is punishing him, so he must do something to get that favor of God back.
Don't offend God by not believing you are who God says you already are! Cover yourself in His grace.