Robin Thicke -- Pleads with Paula Patton During Concert ... AGAIN!!

This is starting to become embarrassing ... Robin Thicke is still going on and on about the importance of forgiveness in a relationship -- all in an attempt to make amends with his ex Paula Patton.

Thicke performed to a packed house Friday night in Madison Square Garden ... and started preaching to the crowd about forgiving your family members ... no matter what the cause.

Thicke says, "We gotta learn to forgive each other, learn to love each other ... no matter who it is in your family or relationship ... 'cause you're always gonna need your friends and family."