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The key point for me was understanding the difference between judicial forgiveness and fellowship forgiveness. Judicially, we release someone from the penalty of his sin. We release that to God for whatever He may do with it. Fellowship forgiveness requires repentance from the person so our fellowship can be restored. The offender may never ask forgiveness, and fellowship may never be restored. That's not to say that we don't speak to one another, but that his offense is still between us, lacking repentance, confession, and fellowship forgiveness. However, the burden of our heart can be lifted because of judicial forgiveness, and as our pastor pointed out, we get better instead of bitter.
As Wendell Miller says, the difference between these two kinds of forgiveness can be considered as the difference between God's "courtroom" and His "living room."