The last two lines of the poem show acceptance rather than regret.
When the poet says that he will be telling the story “with a sigh,” it does not mean sadness or regret. Instead, it reflects a thoughtful pause while looking back on life. The poet understands that the choice he made—taking the road less travelled—made a significant difference in shaping his life.
So, the poet accepts his decision and feels satisfied with it, even though he knows he can never go back and try the other path. The lines suggest reflection and maturity, not remorse.