I know this is hard advice, because I am actively trying to accomplish it myself, but forgive yourself. I've decided to "turn over a new leaf" as I like to put. I've changed the way I talk to people, and not really who I am, but my behavior. You can put the past behind you, it seems as if your parents already have. You can do this.
The big thing you have to do is see your psychiatrist or find a new one to continue treatment. Remember, you can't change the past. So, try to stop dwelling on it. Do constructive things to keep your mind busy like volunteering at an animal shelter or a public library. Do chores at the house. Try to get out and meet people. Remember, a lot of what your problem is that you're spending too much time in your own head. Everybody makes mistakes. You sound like you've owned up to them. So, move forward. To have a future, you have to start focusing on making the "now" better.