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 general condition is presented for error-less 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 oomputation is possible within them.