You may have a will that spells out who receives your material possessions upon your death—your home, your car, your belongings. But what about the intangible things you treasure? Dr. Robin suggests a "relational" will and testament to ease the burden on your loved ones.

What are you leaving your loved ones? Not the material things, but rather the emotional, spiritual, psychological things? Dr. Robin says it's important—and a wonderful gift—to tell those you love about your journey and about the mistakes you've made in your life so that they can learn from them.

Dr. Robin suggests sitting down with your loved ones to leave them with the invaluable lessons you've learned in your life, so that they will have them when you go. Tell them about your journey—not just your successes, but about the blemishes in your life. "Tell them about a time where you really screwed up, or maybe a time that you wished that you had [done something differently]," Dr. Robin says. "Give them the gift of your regret, so they can learn from it; so they can grow from it."

"Then bless them with a new promise, for what [type of life] you hope they will live—bless them with a new opportunity for the way things can turn out when you make a different choice."