A starting place...

Tara Brach:  Trusting your basic goodness
Do me a favor and listen to this.

Read her book, Radical Acceptance.

Stop compounding any misstep in your life with the feeling that you have failed.
What good does it do you?

While the book is written from a Buddhist perspective,  Tara Brach is also a psychologist.  What she talks about can apply to anyone regardless of background or creed.  Just give the mp3 a listen and then decide for yourself.