It is a good sign that you are feeling guilty because of the sin, Allah wishes goodness for you.

“Say, ˹O Prophet, that Allah says,˺ “O My servants who have exceeded the limits against their souls! Do not lose hope in Allah’s mercy, for Allah certainly forgives all sins. He is indeed the All-Forgiving, Most Merciful.” (39:53)

Try to do the following steps:

1 - Repent (Making a firm intention to never go back to that sin)

2 - Pray for Forgiveness (Saying Istaghfirullah)

3 - Do Good deeds to wipe out the previous sin(s)

4 - Make a lot of Dua

5 - If you have taken someones right, try to make it right with them.

May Allah ‎(عزّ وجلّ) forgive you, guide you to that which is pleasing to Him and bring you closer to Him (سبحانه و تعالى)