Part of our daily prayers should be contrition which is “sorrow of the soul and detestation for the sin committed, together with the resolution not to sin again.” (Catechism 1451) This healthy sorrow is quite different from an unhealthy “free-floating” guilt.
We might be sorry because our sins deserve God’s punishments, most notably the punishment of eternal damnation which causes us to fear, or because our sins disgust us and make us feel unworthy. This kind of sorrow is called “imperfect contrition” and if it is brought to the sacrament of penance, is enhanced and perfected by God’s grace.
Perfect contrition is sorrow for sin out of the purer motive of the love of God. We consider how much God loves us, and out of love for Him in return, we repent of having offended Him. It is very helpful to consider the crucifix or the Stations of the Cross which show us in simple and graphic human terms how much God loves us.
If we have committed a mortal sin, that is to say, something serious which we have done knowing it is gravely wrong and with the full consent of the will, then we need to receive absolution in the sacrament of confession before receiving Holy Communion again.
In the case of less serious, or venial sins, we may be forgiven by a sincere act of contrition. It is still a salutary practice to confess our venial sins regularly to receive God’s grace to help us grow in holiness. Our sincere sorrow is always met by the rich and abundant mercy of Christ.