expression, godan verb (-ru)
realize one's error; see the error of one's ways
Used when someone comes to understand their own mistake or wrongdoing, often with a nuance of moral or personal realization.
彼はようやく非を悟り、謝罪した。
He finally realized his error and apologized.
自分の非を悟ることが成長の第
Realizing your own mistakes is the first step toward growth.