Does God really forgive us for all our sins & mistakes? If he does then what should I do to make God forgive my sins & mistakes? And how would I come to know that he has forgiven me & also will forgive me throughout in my life?

I am at that point in life where I have no idea which way to go. After years of searching I finally know what I miss: self esteem and self trust. But I cannot find the way to reach them. I disconsider myself. My mistake is that I do not love myself, and I am in great suffering…. how can i love myself more? How can I be more determined in what I want? How can I trust myself? Please, enlighten me!