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Roman Catechism
Meaning Of Penance
Interior penance consists in turning to God sincerely and from heart, and in hating and detesting our past transgressions, with a firm resolution of amendment of life, hoping to obtain pardon through the mercy. Accompanying this penance, like inseparable companion of detestation for sin, is a sorrow and sadness, which is a certain agitation and disturbance of the soul, and is called by many a passion. Hence many of the Fathers define penance as an anguish of soul.
Penance, however, in those who repent, must be preceded by faith, for without faith no man can turn to God. Faith, therefore, cannot on any account be called a part of penance.