In our hour of need is when we are most encouraged by God to come before Him and ask Him for his guidance and assistance. Yet, when those needs arise, and made more complicated by the guilt we feel from past sins and failures which we have not previously set ourselves free from, it is when we are least inclined to come boldly before God.
However, God sees it differently. This is the time God invites us the most. He encourages us to confess our sins, pray for help and not let the past sins, guilt and failure get in the way of our relationship with Him. Put the pride aside and let the Word and the truth of Jesus' death on the cross, His blood, and God's mercy set you free.
There is always room for you in the throne room of heaven! Hebrews 4:16