It often follows feelings of guilt or regret over being or doing wrong. Changing your mind when you are wrong is good.
The book of Romans is intended to change your mind. It begins by explaining how our minds became reprobate (Rom 1:28), and ends with a renewed mind (Rom 12:2), fully persuaded (Rom 14:5), that is like-minded in giving glory to God (Rom 15:5-6).
Repentance, being a change of mind, does not include any sort of work from you. It is a result of hearing the word of God, and letting it work in you. When a soul hears the word of God, it repents.
Romans 1-3 changes your mind about sin, and the need for salvation.
Romans 3-5 changes your mind about salvation, and God’s righteousness in Christ.
Romans 5-8 changes your mind about who you are in Christ, and how to walk therein.
There is not a single thing you do anywhere in Romans 1-8 that does not concern changing your mind. By the end of eight chapters you are saved, sure, sealed, and ready to serve and there has not been one meritorious work on your part for any of it.
Paul preached repentance toward God, and faith toward our Lord Jesus Christ (Acts 20:21). Repentance is not a work; it is not turning from your sins, confession, self-sacrifice, or living a good life. It is a change of mind.
You find Paul preaching this change of mind in all his epistles, but clearly in Romans 1-8.