Luke 15:20
Before they crucified Jesus, they stripped Him, beat Him, and spat on Him. While He hung on the Cross, they hurled insults at Him. He willfully took on all that humiliation for the same reason as the father in the parable. Because of love. He could have defended Himself and avoided all that shame, humiliation, and pain, but He willfully chose not to. Because of love.
As a result, we can be forgiven, restored — accepted. We do not have to fear going home to our Father and confessing our sins, no matter what we have done, or how many times we have done it (remember, Jesus taught his followers to forgive 70 times seven).