Thank you for your question. Allah accepts sincere repentance and heaven is not too far for someone who reforms themselves after sinning. He should never repeat these acts and he should put his hope in God and not feel depressed. For the acts of worship that he has missed he has to make them up. He should try to make amends with the people in his family that he can as for some family members it may take them a while.
You can refer to the following links for further guidance: http://askanalim.org/node/5955 http://askanalim.org/node/106
May you always be successful