Forgiveness

Can we truly forgive others when they have done wrong to us?
God gives us an example of forgiveness as He forgives us of our sin; sin from our past, sin in our future and current sin. He forgives us instead of condemning us. God chooses tenderness instead of condemning just as we should. God shows this all to well in the parable of the prodical son.
In the parable the father rushes to meet the son as the son has returned home after squandering his inheritance from his father.
So I ask again, can we truly forgive others when we are done wrong?
An even bigger question is can we forgive ourselves? This is an area were I really struggle and hope to get better. If God can forgive us we should be able to forgive ourselves.