Appreciating Our Dual Relationship With Hashem

From KMTT - the Torah Podcast by KMTT.

Rav Soloveitchik on Teshuva (11): Appreciating Our Dual Relationship With Hashem, by Rav Dovid Gottlieb

What is the basis of our relationship with Hashem - what we inherit from our parents or something more personal? What does sin do to that relationship and how does teshuva repair the relationship?