how do I get my dads trust back?

This past week I was on a cruise and me and 3 of my friends stayed back in florida for an hour or so to get some stuff at this surf shop. I decided to steel a bathing suit and I dont no why. like an idiot I thought it would be cool.I ended up letting my whole family down.im an honor roll student and an all around family kid.im 17 and I got cought shoplifting.that was the first time I had ever done it.I don’t know why I did I just did.I don’t know what to say. the first thing I thought about was that my family is never going to trust me agian. I am in huge trouble. I thought my dad would be so dissappointed in me. I am such a straight laced kid I just did something so stupid and im scared that my relationship with my family and friends will never be the same. I get home and talk to my dad thinking that he is going to be so dissappointed and I felt so bad. he was so dissappointed in me and would not stop crying.he said this is not like you this is not real so many times. I feel so bad and I dont know how to fix it or even deal with it.I was crying and felt bad.my dad told me that he was worried about my younger brother, that already hurt me enough then he said that he asked, since my brother did this does this mean he is a criminal.I bursted in tears.I care for my brother so much and he thinks im a bad person. I no I did something really bad and I except every single consequence that I adhere. I dont care what happens to me.I just feel so bad inside that I let my dad down so badly.I don’t know what to do I feel like I just cant live anymore. no im not going to do anything like that but thats how I feel.I feel like this will never get better. how do I gain my dads respect and trust back. I cant sleep and every time I think about how bad I made my dad feel I just get sick to my stomach. what do I do.