This most Holy Synod deliberately teaches this Catholic doctrine and at the same time admonishes all the sons of the Church that the cult, especially the liturgical cult, of the Blessed Virgin, be generously fostered, and the practices and exercises of piety, recommended by the magisterium of the Church toward her in the course of centuries be made of great moment, and those decrees, which have been given in the early days regarding the cult of images of Christ, the Blessed Virgin and the saints, be religiously observed…Let the faithful remember moreover that true devotion consists neither in sterile or transitory affection, nor in a certain vain credulity, but proceeds from true faith, by which we are led to know the excellence of the Mother of God, and we are moved to a filial love toward our mother and to the imitation of her virtues.
–Lumen Gentium, Ch. 8, Section IV, paragraph 67.
Mary deserves your filial affection. You have to ask yourself why you are so afraid to develop this relationship. I would suggest you read Chapter 8 of Lumen Gentium. Perhaps your fears will be put to rest and you’ll develop an appreciation for why the Church does venerate the Blessed Virgin Mary.
As for your original question, recitation of the Hail Mary is not contrary to the faith. You are capable of performing this as a penance. If your confessor tells you to do it, then do it. If you study this question again and still have difficulty with it, ask your pastor to explain the matter to you and put your fears to rest.