Are we commanded to do Teshuvah?

My Rabbi gave a very interesting Shabbat Shuvah Derasha yesterday, focusing on how the Rambam structured his Hilchot Teshuvah, his explanation of the laws of repentance. And the question arose: Is there a commandment to repent? ( Cut for length )

Are we commanded to do Teshuvah?

My Rabbi gave a very interesting Shabbat Shuvah Derasha yesterday, focusing on how the Rambam structured his Hilchot Teshuvah, his explanation of the laws of repentance. And the question arose: Is there a commandment to repent? ( Cut for length )