You will not thereafter be free from trouble and mistakes but can erase the guilt through repentance and be at peace. I quoted the third article of faith. Justice requires that there be a punishment. 23 Guilt is not erased without pain. There are laws to obey and ordinances to receive, and there are penalties to pay.
Physical pain requires treatment and a change in lifestyle.
So it is with spiritual pain. There must be repentance and discipline, most of which is self-discipline. But to restore our innocence after serious transgressions, there must be confession to our bishop, who is the appointed judge. That spiritual heart surgery, like in the body, may cause you pain and require a change in habits and conduct. But in both cases, recovery brings renewed life and peace of mind.