Let's say I describe a particularly gruesome crime scene to you. Two people engage in an act of violence that ends fatally. Children were involved. Maybe even a puppy. It was a truly bloody affair. Naturally, if you are a mentally healthy person, even the image of this fictional incident would cause feelings of horror, dread, anger, sorrow, and even cause you to care about the characters who were unjustly harmed or killed. And like anyone else, when I think of such a crime scene and the pain the victims must have felt, the violence horrifies me. Because of these feelings, I know this act of violence is wrong, or bad.
Conversely, when I see a fireman saving someone from a burning building despite possible risk to himself, I feel relieved, encouraged, and generally positive about life. Because of these feelings, I know this act of saving someone is right, or good.