"Allaah wishes to make clear to you and to show the
ways of those before you and accept your repentance
and Allaah is All-Knower, All Wise." [soorah an-Nissa 4:26]

Abee Hamza Anas ibn Maalik al-Ansaaree
said that the Messenger of Allaah () said:

Allaah is more pleased with the repentance of His
servant than one of you who falls off his camel
and loses it in a baren desert land. [al-Bukharee vol8 #321]

Thus, there is no duty upon you - O servant of Allaah -
except that you should make Allaah happy
with your repentance and bring happiness
to your own soul by its repenting to its Lord
and by standing upright before its Originator.

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The Conditions of Taubah are as Follows

1.	Cessation of the sin.
2.	Regret and remorse of the heart.
3.	Firm resolve not to return to the sin.
4.	Returning the right of the oppressed, in that which is particular to the rights of man.

How is Salaat-us-Taubah Performed?

Alee () who said that Aboo Bakr () told him
that he heard the Messenger of Allaah () say:

There is no servant who commits a sin and then he
purifies himself (wudoo') and then prays two rakaahs
and then seeks forgiveness of Allaah except that
Allaah forgives him.

[Ahmad, Aboo dawood eng trans. Vol. 1 #1516 and others] 

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Taken from THE THREE ABANONED PRAYERS by
Shaykh 'Adnaan Aali 'Uroor

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Hadith - Bukhari 8.800B, Narrated Ikrima from Ibn Abbas

Allah's Apostle said, "When a slave (of Allah) commits illegal sexual intercourse, he is not a believer at the time of committing it; and if he steals, he is not a believer at the time of stealing; and if he drinks an alcoholic drink, when he is not a believer at the time of drinking it; and he is not a believer when he commits a murder." 'Ikrima said: I asked Ibn Abbas, "How is faith taken away from him?" He said, Like this," by clasping his hands and then separating them, and added, "But if he repents, faith returns to him like this," by clasping his hands again.

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A named condition for the forgiveness of Allah (swt) is the returning to obedience in the matter...

The Noble Qur'an - Az-Zumar 39:54

And turn in repentance and in obedience with true Faith (Islâmic Monotheism) to your Lord and submit to Him, (in Islâm), before the torment comes upon you, then you will not be helped.

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The Noble Qur'an - An-Nisa 4:17-18

Allâh accepts only the repentance of those who do evil in ignorance and foolishness and repent soon afterwards; it is they to whom Allâh will forgive and Allâh is Ever All­Knower, All­Wise.

And of no effect is the repentance of those who continue to do evil deeds until death faces one of them and he says: "Now I repent;" nor of those who die while they are disbelievers. For them We have prepared a painful torment.