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Chassidic Essence of Yom Kippur
(יט) תִּכָּ֣תֶב זֹ֭את לְד֣וֹר אַחֲר֑וֹן
וְעַ֥ם נִ֝בְרָ֗א יְהַלֶּל־יָֽהּ׃
(19) May this be written down for a coming generation,

that people yet to be created may praise the Holy One.
(ל) כִּֽי־בַיּ֥וֹם הַזֶּ֛ה יְכַפֵּ֥ר עֲלֵיכֶ֖ם לְטַהֵ֣ר אֶתְכֶ֑ם מִכֹּל֙ חַטֹּ֣אתֵיכֶ֔ם לִפְנֵ֥י יהוה תִּטְהָֽרוּ׃
(30) For on this day atonement shall be made for you to purify you of all your sins; you shall be pure before יהוה.
(יב) לֵ֣ב טָ֭הוֹר בְּרָא־לִ֣י אֱלֹהִ֑ים וְר֥וּחַ נָ֝כ֗וֹן חַדֵּ֥שׁ בְּקִרְבִּֽי׃
(12) Fashion a pure heart for me, O God; create in me a steadfast spirit.
Midrash Socher Tov 102
Some say this means that on Yom Kippur, all of Israel is created as a people, it is as if they are created new and have no connections with the sins they did prior.
Others say, the verse should be understood to mean that after teshuva their sins no longer have a claim on them, as it says “you shall be pure before the Holy One” (Lev. 16:30), which means that the Holy One of Blessing creates them like new creations on Yom Kippur. This is like the verse, “fashion a pure heart for me, O God,” this means a new creation that is the essential element of the holy day.
(א) שִׁ֥יר הַֽמַּעֲל֑וֹת מִמַּעֲמַקִּ֖ים קְרָאתִ֣יךָ יהוה׃
(1) A song of ascents. Out of the depths I call You, Hashem.
Chasidic essence of Yom Kippur from SlonimN
Netivot Shalom 2:168
An essential element of Yom Kippur can be dest described in the midrash:
“That people yet to be created nay praise the Holy One”
—Psalm 102:19
Some say this means that on Yom Kippur, all of Israel is created as a people, it is as if they are created new and have no connections with the sins they did prior.
Others say, the verse should be understood to mean that after teshuva their sins no longer have a claim on them, as it says “you shall be pure before the Holy One” (Lev. 16:30), which means that the Holy One of Blessing creates them like new creations on Yom Kippur. This is like the verse, “fashion a pure heart for me, O God,” this means a new creation that is the essential element of the holy day. Shocher Tov 102
The above teaching describes that the process of creation inherently includes purification even for the most serious transgressions. This is just as was explained by the Kovriner Rebbe:
“Out of the depths I call to you, Holy One”
—Psalm 130:1
This refers to out of the depths of the husks of darkness I call to you, Holy One. The meaning here is that from the depths of darkness, we find the holy sparks that have fallen into the darkening husks.
All this is achieved through the power of trust that one that the Holy One dwells with every person even amidst his sins. God hears listens to your voice that comes forth out of the darkening husks.