Maybe you think, "I cannot lead myself to repentance; that is something only God can do", but when God asks you to repent, He is there to help you to do what you cannot do in your own strength. God wants to give you all that is needed to accomplish this.
This man had been sick for thirty-eight years. He could not get up in his own strength, but when Jesus told him to get up and walk, Jesus gave him the power to do this.
Humanly speaking, this man was not able to stretch out his hand, but because Jesus asked him to do it, he was capable; Jesus made him capable.
The Lord Jesus was sacrificed. He died for the sin. The Lord Jesus offers you His mercy and encourages you to repent, to believe and trust Him. You can accept this gift of grace and stretch out your hands in faith to receive it.
Even a dead person could do what Jesus asked of him!
If you are still spiritually dead, God calls you to repentance, to surrender your life to Him. The Word of God is full of the resurrection power of Christ. God is calling people out of death into life (John 5:25). You will no longer live for yourself, but you will start living for Him (2 Corinthians 5:15, 1 Peter 4:2).