According to Catholicism, how can a Christian be freed from the concupiscence of the flesh and thereby possess a sinless body?

After the fall of Adam & Eve from pride & disobedience, all mankind inherit original sin. The Catholic Church teaches that the original sin can be removed by the Sacraments of Baptism but the stain of original sin or the concupiscence of the flesh still remains. **St. Paul describes this in Romans 7:15-24 as;** >"I do not understand what I do. For what I want to do I do not do, but what I hate I do. And if I do what I do not want to do, I agree that the law is good. As it is, it is no longer I myself who do it, but it is sin living in me. For I know that good itself does not dwell in me, that is, in my sinful nature. For I have the desire to do what is good, but I cannot carry it out. For I do not do the good I want to do, but the evil I do not want to do—this I keep on doing. Now if I do what I do not want to do, it is no longer I who do it, but it is sin living in me that does it. > >"So I find this law at work: Although I want to do good, evil is right there with me. For in my inner being I delight in God’s law; but I see another law at work in me, waging war against the law of my mind and making me a prisoner of the law of sin at work within me. What a wretched man I am! Who will rescue me from this body that is subject to death? In light of this dilemna, is there a way to remove concupiscence or wash-away the stain of sins in our bodies. Does Christ leave the Church with any teaching how to remove or wash away the stain of sins after we are cleansed by baptism? Unfortunately, this is a tough challenge for many striving Christians as we can see from Scriptures, Christ has elevated the definition of adultery: >"You shall not commit adultery," Christ spoke of adultery in the heart. "Everyone who looks at a woman lustfully has already committed adultery with her in his heart" **(Mt 5:28).** Now, I'm looking for Church teachings on how to remove concupiscence, as clearly based on Saint Paul himself as he overcame concupiscence when he exclaimed; >"I have been crucified with Christ, and I no longer live, but Christ lives in me. The life I live in the body, I live by faith in the Son of God, who loved me and gave Himself up for me. (Galatians 2:20) So, its not hopeless for us. **My question is how did Saint Paul overcame concupiscence, and what does it mean when Saint Paul overcame concupiscence his body is sinless like Adam and Eve?**