We can go astray. We have free will to go the wrong way. If we want. But once we realize that we need to turn back and go in God's direction, go in the way that he leads, once we realize that the way to do it, the way to not be weighed down by guilt and shame. The way to have the depression and apathy lift so that we can get going in God's direction is to do this, to consciously give these transgressions, to hand them over to God, to hand them over to Jesus who has borne our infirmities.
And he carries them away.