The phrase "do penance for" means to make amends for a wrongdoing or sin. However, there are several other ways to express the same idea. One could say "atone for," "make reparations for," "pay for," "seek forgiveness for," or "make restitution for" a mistake or transgression. These synonyms convey the idea of taking responsibility for one's actions and making efforts to right a wrong. Whether through acts of service, apology, or self-reflection, the goal is to acknowledge the harm caused and work towards making things right. No matter which term is used, the underlying intention remains the same: to seek reconciliation and heal relationships.