"A learning experience is one of those things that say, 'You know that thing you just did? Don't do that." - Douglas Adams
I think living a good life can be boiled down to three simple rules.
1. First simply try to live life by the Golden Rule - treat others as you'd want them to treat you.
2. Try to make good decisions in life. For the most part you know instinctively a good choice from a bad choice. Try to make good choices.
3. You will make some bad choices - it's unavoidable. However when you do - treat your bad choice as a learning experience and take the words of Douglas Adams to heart and try not to make the same mistake twice.
Rinse, lather, repeat. A good life doesn't need to be complicated.