There are people who do not always follow these teachings, he acknowledged, and for those people, the Church is "not here to criticize and critique, but we are here to say 'this is the way'" and help them to follow the commandments.
The cardinal also emphasized the duty of Catholics to continue aiding those who are neglected by the rest of society.
"We cannot succeed without bringing forward our brothers and sisters, especially those that have no other way forward."
He lauded Pope Francis for setting an example in this regard with his "quiet, persistent, consistent presentation of faith."
There has been "no change in the teaching" or doctrine of the Church between Benedict XVI and Pope Francis, the cardinal clarified. However, the current Pope's style of simplicity and listening are an example for the faithful to follow.
Cardinal Wuerl also encouraged those at the lecture to pray, saying that prayer is "our conversation with God" and an important foundation for building a relationship with the Lord.
"Prayer changes hearts, and if enough hearts are changed, the whole world can be changed," he explained, suggesting that people pray numerous short prayers throughout the day.
"People who believe have a horizon so much larger," the cardinal remarked, because faith allows us to "simply to know there's a purpose to life, there is someone who will explain in my heart what it is all about and who will be with me on the journey."
Adelaide Mena was the DC Correspondent for Catholic News Agency until 2017 and is a 2012 graduate of Princeton University.