Is it lawful to do good on the sabbath

Jesus encounters a man with a withered hand. Rather than have any concern for what he has suffered over the years, the Pharisees watched to see if he would heal on the Sabbath. Jesus, a man filled with a passion for life, is angry at their hardheartedness.  Despite knowing his actions would add to the growing marks against him, Jesus’ mercy and love mean he will heal the man. Jesus also wishes to remove whatever holds me back from living as he calls me to be. What do we put forward for healing when Jesus asks us to stretch out our hand?