The term *Do penance* is NOT an accurate translation of the Greek.
The Greek word is *repent*, which is NOT the same as penance.
Not exactly. The Greek word is "Μετανοήσατε" which most accurately means to transform your thoughts. This was translated into Latin by St. Jerome, a fluent speaker of Koine Greek, as "paenitentiam" meaning to perform the acts of inward and outward penance, in other words penance...
Peace be to you.