Is it just wrong to use I does in a sentence or is it okay?
You can't say I does instead of I do. But one can make up a grammatically-correct sentence in which I is followed by does:
"You" refers to a different grammatical person than "I" does.
If not artificially constructed in this way, I does is always incorrect.
(The above answer assumes that does in the question is the third person singular conjugation of the verb to do, and not the plural of the noun doe (a deer, a female deer).)
In informal British dialogue, the first person sometimes conjugates like the third person singular in a present progressive tense, reporting past events.
This is part of what has been described on this site as "the historic present".
There is a loud scream from the neighbours' house, so I goes over to see what is happening, and I does the polite thing of ringing the door bell before entering...
For a discussion of the historic present see: Using the present tense in recounting past events