You may have done what they say you did. But you are not what they say you are. You are more than the sum of your mistakes and not defined by the darkest moments of your life, during which you erred. To err is human, to forgive divine. Begin by learning to forgive yourself, then pass that habit on to others, while not forsaking the important lessons learned by your mistakes (and other’s), large and small.
Lastly, realize that the memory is a terrible liar. We rarely recall events accurately and in the context by which they actually occurred under a variety of influences and contributing factors. Certain aspects of any event are going to amplified or diminished with time, so take the lessons these events afford and discard the rest. Don't forget to say you're sorry, mean it and don't do it again.
Your human family is richer for the light you shine in this often-dark valley, so pick yourself up, brush yourself off and get back in the race, my dear friend. God loves you, and so do I.