["I felt so ashamed the time that I took money from my parents. I couldn't look them in the eyes for weeks when I was younger.", 'At least that shows that you have a conscience. I hope that you made it up to them.', "Yeah... I don't know. They still support me and help me, but I still feel incredibly guilty. Not sure what to do to make it up to them."]
Confess to them what happened. Let them know how you have changed.
I stole my money from my parents more than once and every time I did it because I needed the money badly, but I was too ashamed to ask my parents directly for the money. In the end, I couldn't look my parents or family in the eye knowing what I've done.