What is the distinction between faith and repentance?

Sam Waldron explains in this video that in Acts 20:21, Paul preached a message of repentance towards God and faith towards Christ. Faith and repentance are used in the same sentence.

The object of repentance is God. The object of faith is Christ. Repentance and faith are both distinct and are not synonyms. Faith is oriented to the covenant of grace. It is sealed by the work of Christ. It sets its eyes on Christ. Repentance is oriented toward the authority of God as the lawgiver.

Acts 2:38 (NKJV) – “Then Peter said to them, “Repent, and let every one of you be baptized in the name of Jesus Christ for the remission of sins; and you shall receive the gift of the Holy Spirit.”

I think the best place to go for an answer to that question, and I think it's one of the classic places in all the Bible that speaks to both this question and the relationship of faith and repentance is Acts 20-21, where we are told that Paul went everywhere preaching, solemnly testifying, repentance toward God. And though not every English version picks it up, the same preposition is used in the next phrase, repentance toward God and faith toward our Lord Jesus Christ. In that language of repentance toward God and faith toward our Lord Jesus Christ, you have the objects of both repentance and faith clearly stated. The object of Repentance is God. The object of faith is the Lord Jesus Christ.

Now, clearly, and I think the passage applies to this, repentance and faith are inseparable, but they are also distinct things. Repentance and Faith are not just synonyms. And it's in this different or distinct object of repentance as opposed to faith that we see this. See, repentance has respect to the majesty and authority of God as lawgiver. That is the orientation of repentance.

And at the same time, faith has its orientation, not to God as lawgiver, not the majesty of God's holiness, but has an orientation to the Covenant of Grace as it has been sealed, ratified, confirmed, guaranteed by the work of Jesus Christ. So faith sets its eyes on the Lord Jesus Christ and repentance is oriented toward the authority of God as lawgiver against whom the sin for which we're repenting has been committed. With regard to reformation needed in the home today, I think there has to be a return to and recognition of the biblical roles articulated in the Bible for the husband and the wife. What this means is particularly important for wives, and that is that a woman's career, according to the Bible, not that she can ever do anything else, but a woman's career is her home and her children. She is to be, to use Paul's language, a keeper at home.

Now this is lost far and wide in our day. And so I would say one of the key things that needs reformation in the home today is a return to and a real embrace of the notion that a woman is to be a keeper at home, that her first career is in the home, that nothing else may be allowed to put that in a second place in her heart and mind. At the same time, I think we need to return to the notion of the man as the head of his home, as the prophet, priest, and king of his home, and a real embrace by the man of the importance of the pivotal and foundational importance of his example, his leadership, including of course the re-erection of family worship with prayer and the reading of God's word or good books about God's word at least, as a regular part of family life. And without this renewed leadership in the home by the man, the home will be in terrible difficulty, will continue to be in the terrible difficulty that it's in.