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Until you are no longer on this side of heaven, there is always a chance for reparations. Seek counseling for yourself first and foremost. You are heading in the right direction now, but were going the wrong way for so long, that it will take time, probably quite a bit of it, to mend these relationships. It will be hard, and heartbreaking, but understand the worth of your efforts. We all make mistakes. Own yours and break the chain, or the pain you feel now will become much worse as you watch your children do the same to theirs. Love is a choice that you must make everyday. Prayers and best of luck to you