Love yourself.
Have compassion for yourself.
Know yourself.
When you do you will have an easier time loving others.
This endless guilt is just a nice way to beat one's self up which is not very loving.
If you make a mistake then accept it as a mistake and resolve to do better next time around.
We are all human and so will make mistakes.
If we cannot forgive others or ourselves for making mistakes then such a person is not very civilized.
(Honest mistakes that is) The repeat offenders are another story.