Every human is susceptible to making mistakes. The Qur'an gives them hope and teaches them to ask Allah to take care of them and guide them on the right path.
Tawbah: Turning to Allah in Repentance by Ibn Qayyim al-Jawziyyah addresses the spiritual aspects of Tawbah, without neglecting the physical requirements and conditions.
It is taken from the book Madarij Al-Salikin Bayn Manazil Iyyaka Na'budu Wa Iyyaka Nasta'in (The Stages of the travelers Between the Stations of Only We Worship and Only We Seek Help From), which is one of Ibn Qayyim's best works. Supported with extracts from the Qur'an and quotes from the Messenger of Allah ﷺ, the author deals with apparent and deeper aspects of repentance, and the true essence of repentance and its conditions.
