Just tell them you are sorry for everything.You want to change yourself and it's never late.Try to convince everyone that you did something wrong and extremely regret about it.Just tell them what you are feeling right now..I am pretty sure they will forgive you..But for the trust you should not lie again..
I think the best thing you can do is tell them you are sorry for lying to them. Explain to them why you lied and promise never to lie again. It will take time for them to earn your trust back but they will eventually gain it if you keep your promise.
Apologize and work to regain their trust. It will take patience on your side because depending how bad that lie was and the circumstances it caused,it could take a while to regain their trust and forgiveness. Just learn from your mistake and move forward. Good Luck