I do sympathise, Bee - I'm just the same!
If the bad decisions I made in the past had only affected me I would just shrug and get on with it, but they affected my children, who still live with the bad memories, and I find it very hard to live with the guilt.
I comfort myself by thinking that I did the best that I could manage at the time - and hindsight only came later !
I still find that guilt is a very painful emotion which has, at times, made me feel deeply depressed, but hey, I've never done anything illegal, and I'm sure that you haven't either, so maybe we should forgive ourselves and seek reconciliation with those we feel we may have wronged.