There's a saying "practice makes perfect." What's involved in practice that leads to "perfect?"
When we start learning any skill, we don't really know what's perfect as we haven't had any kinesthetic experience that we can make comparison to, though we may have a rough idea where we want to go. As we try once, and twice, and three times, we start to accumulate experience and constantly receive feedback and make adjustments to refine our skills. When our movements didn't feel quite right, we would know based on our previous experience.
Mistakes provide feedback we need in order to make adjustments for the following attempt so we can get closer to our goal, ONLY IF we pay attention to the mistakes we just made. Otherwise, we're more likely to make the same mistakes without much improvements. This is why some people say "perfect practice makes perfect." Just simply repeating movements isn't necessarily going to guarantee improvements. In fact, you may become good at unwanted skills, which now become your new habit.
Fundamentals of motor learning can always be found when observing babies and kids. My 9 month old son recently learned to pull himself up to stand. He was very excited to check out completely different views from standing. He, however, didn't know how to get back down to the floor. He lost his balance and fell backwards and hit his head on the floor. That was a very hard and painful lesson for him. He was still curious about standing up so he stood up while holding onto the couch. After a few minutes, he quickly recalled the painful event and was trying to figure out a way to get down to the floor without hitting his head against floor. He slowly reached one hand towards the floor with the other hand on the couch. Finally he was able to put one hand on the floor and lowered himself down without falling! He's learned how to get down to the floor from standing from his mistake.
Mistakes are necessary for improvements. The word "mistake" is often perceived as having a negative meaning, but if it weren't for mistakes, we wouldn't even know what is "right." When I work with my clients, I always encourage people to make mistakes and help them recognize what makes certain movements/postures a mistake and what makes them a correct one for them. We all make lots of mistakes, but mistakes are what get us closer to our goal! If we make mistakes, we might as well make it fun! Come join my weekly Awareness Through Movement classes to make mistakes in a playful environment!