What an encouragement here, for all of us who have ever sinned: all is not lost.
We have done wrong, but we are still accepted and loved. The door to God is still open.
The passage goes on to exhort the Israelites to turn away from their sin – loving and serving God is incompatible with preferring and pursuing sin, even though we will still fall from time to time/daily! – but God is gracious and merciful, slow to anger and quick to forgive.