Jesus teaches that how we see and respond to God is a major source of joy and rejoicing in heaven. He said that when just one sinner repents all heaven rejoices in Luke 15:7. Jesus goes on to connect the act of repentance to a lost sheep being found and a lost coin being recovered.
Neither the sheep or coin played any role at all in their own recovery other than getting lost. Yet Jesus declares their being found and restored to their rightful owner as an act of repentance. The sheep which was lost because of it's nature, doesn't apologize for getting lost nor the coin that was lost because of circumstances that caused it to fall into a dark hiding place. A person drowning doesn't apologize to the life guard for not being able to swim before they are saved. They are thankful and overjoyed that their life was saved.
Repentance isn't about the agony of being separated or the guilt of past failures and sins etc.. It is about the joy at being found and recovered by your Heavenly Father. True repentance is recognizing and believing in God's goodness to you, that leads you home, which is in Him.
"Or despisest thou the riches of his goodness and forbearance and longsuffering; not knowing that the goodness of God leadeth thee to repentance?" Romans 2:4
"The time is fulfilled, and the kingdom of God is at hand: repent ye, and believe the gospel." Mark 1:15
Jesus saw that real repentance was simply responding to God's goodness.
