Decoherence in quantum computers is formulated within the semigroup approach. The error generators are identified with the generators of a Lie algebra. This allows for a comprehensive description which includes as a special case the frequently assumed spin-boson model. A generic condition is presented for errorless quantum computation: decoherence-free subspaces are spanned by those states which are annihilated by all the generators. It is shown that these subspaces are stable to perturbations and, moreover, that universal quantum computation is possible within them.