Remember, too, that you have the right to make mistakes. Exercise it. Good judgment comes from experience, and often experience comes from bad judgment.

Rita Mae Brown (b. 1944) American author, playwright

Starting from Scratch, Part 4 (1988)
    (Source)

Brown popularized the phrase, but it had been expressed before. More information: Good Judgment Depends Mostly on Experience and Experience Usually Comes from Poor Judgment – Quote Investigator.