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I think there tends to be some confusion in this aspect of piano study. Of course people are going to make mistakes when learning. The trick is to note them, fix them, and then practice the correct version. Don't spend any time practising errors. At least that's how I think of it. A great book on the subject is "The Perfect Wrong Note: Learning to Trust Your Musical Self" by William Westney. He believes worrying too much about being flawless on the initial playing causes anxiety in students. Being ok with errors helps people relax and makes them less likely to give up.