Verse 20 tells us that one day the father looked up and saw his son coming. He didn't run and lecture him on how he lived his life, no, he had compassion on him, kissed him and welcomed him home. Even though his clothes were shabby and dirty, the father called for the finest robe to be put on him. All that mattered was that his son was home.
When we came to Jesus we were clothed in nothing but dirty garments of sin. Jesus forgave us and gave us a spotless garment to wear, one washed in His precious blood. He wrote our names in the lamb's book of life and is in Heaven preparing a place for us.
Maybe as you read this, you may have children or a child outside of the fold and living the way you do not approve of. You may have brought them up the best you could but in some unguarded hour they slipped and fell away from God. Remember Proverbs 22:6 says,"Train up a child in the way that he should go and when he is old he will not depart from it." Keep on praying and believing.