Assuming that if you were to sin each day then yes, ask for forgiveness. When you sin this alienates you from God and harms your personal relationship with the Lord. Once you repent of your sins, and by that, I mean a serious desire to not sin again, you should invite the Holy Spirit to live inside to comfort and guide you on your spiritual journey. From this point you will be sinning less and less and can reach a point where you don't sin each day.
Jesus died on the cross for all of the sins that you will ever commit and will forgive you if you seek His forgiveness each and every time. Still, we are still human living in a carnal body and will occasionally stumble on our journey. These sins will not cause you to lose your salvation but will damage your personal relationship with the Lord. That does not mean that He will leave you because He promised that He will neither leave you or forsake you.
The guilt that you feel from sinning is the Holy Spirit convicting you of your sin. Confessing this sin to God restores the relationship and it is healthy again Once you confess this sin do not hang on to the guilt as God remembers this sin no more.
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