Why is repenting necessary for a believer after they have sinned :

A Muslim's belief may become weak and he may be overwhelmed by his desires, the Shaytaan may make sins attractive to him and so he continues to commit sin. Repentance is necessary for a believer because it reminds him that Allah is always watching, that Allah will forgive, it makes an individual able to reflect on his or her life,  it makes Allah happy and it's a  life transformational process.

In narrating one of the popular hadith, Ibn Masud stated that Allaah's Messenger (sal allaahu alaiyhi wa sallam) said:

Allah is more pleased with the repentance of his slave than a man who encamps at a place where his life is jeopardized. But he has his riding animal carrying his food and water. He then rests his head and sleeps for a short while and wakes up to find his riding animal missing. He starts looking for it and suffers from severe heat and thirst or what Allah wished him to suffer from. He then says: 'I will go back to my place.' He returns and sleeps again. Then when he wakes up, he raises his head to find his riding animal standing besides him. So one can imagine the happiness that this brings to him. (The prophet continued by stating that) Allah is more pleased with the repentance of His slave than the situation of happiness that this person experiences after he was saved from death.'

"Every son of Adam sins, and the best of those who sin are those who repent." 

Narrated by al-Tirmid

The definition of repentance:

  Repentance is the action in which an individual reviewing one's actions and feeling contrition or regret for past wrongs, which is accompanied by the commitment to change for the better.  

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