Is there any such thing as repenting for your sins in our culture?

Long story short, I am a 19 soon to be 20 year old male. I wasted my 2 years of senior secondary 11-12th indulging in things i shouldn't have been, like being in a relationship and roaming here and there with friends, not following my dharma of being a student, shouting at my parents, your typical immature teenager. Although not much big of a sin, nowadays, I see my parents getting old, having mental and physical issues. They used to be so much worried for me back then and they are still worried for me. Although I have been studying hard and trying my best to follow their words and make them happy, sometimes I feel that it is my bad karma that has been affecting my entire household (we all as a family are going through a lot too.) I strongly feel devotion towards shree ramchandra ji, however i am no where near him. I am a vile human, full of random thoughts, some good some bad, my actions are many a times based on my emotions. Like christians ask for forgiveness from lord, can we also ask god to forgive us and guide us from here on, help us stay away from distractions and doing bad things?