What happens When you SIN? How to ask for forgivenes?

We humans sin every time, we sin in day and the night. But we need to realize Allah S.W.T always keeps the door of forgiveness open. We should never ever lose hope in his mercy. May Allah forgive us all and give us the taufiq to stay on tauheed. In this podcast, Imam Omar Suleiman tells us what happens when we sin. And what should we do? How should we approach asking Allah for forgiveness. 
May Allah make us among who listen and apply.