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You can receive the sacrament of Penance if you have any sin including not only mortal sins but venial sins as well. If you have sin, it is recommended but not necessary to receive the sacrament (Except for mortal sins where you must confess it)
You receive penance through the sacrament of reconciliation. After committing a grave sin you would confess you sin to a Holy Father. Then you would ask him for a penance. A grave sin is considered one that breaks any of the Ten Commandments.
In the sacrament of reconciliation or confession, you receive sanctifying grace if you make a worthy confession. The priest will hear your confession and absolve you of your sins, if he is able (which means that you are genuinely contrite and intend to not sin again), and give you a penance, which is usually a token punishment for you to show your repentance to God. The sacrament of penance restores you to baptismal purity.
The Sacrament of Penance.
It is a sacrament of Healing.
The first communicants are supposed to renew the Sacrament of Penance before they receive the Holy Bread.
The name of the sacrament which you confesses your sins is called the Sacrament of Penance. Its three names are reconciliation, penance, and confession.
foRmula of sacrament of reconciliation
Penance
the sacrament of reconciliation (penance or confession)
It is called the sacrament of Penance, the sacrament of Reconciliation, the sacrament of Forgiveness, the sacrament of Confession, and the sacrament of Conversion.
the sacrament of reconciliation or penance