Nikaah & Marriage Issues

Hurmat-e-musaaharah

Q: I am a 19 year old male and currently studying Aalim course. A few years ago I had touched my mother with lust and I have finished reading the conditions through which hurmate-e-musaaharah will take place (i.e. if she had a cloth on which was thick and the heat of the body could be felt, etc). However I'm not so sure if the conditions took place or not because of it being a while ago however I have Ghaalib-e-Gumaan that the conditions took place. Is there any way out for me? Do I have to confess? Will Allah Ta'ala forgive me for this despicable sin even if I don't confess?

Committing zina

Q: If someone commits zina and then feels bad and wants to offer tauba and istighfaar with this hope that Allah Ta'ala will forgive him, but after tauba should he present himself before law authorities for Islamic punishment i.e sangsaar or not?