Motorcycle was registered for 2 years without insurance… problems???

Hello, I have the following problem. I found out in December that my motorcycle has not been insured for the last 2 years. I’m just glad I didn’t have time to drive except for a ride to the Tüv. So I was lucky again! I quit my insurance at the end of the season (October) 2 years ago and forgot to take care of a new insurance next spring (March). The motorcycle was registered the last 2 years and I also paid car taxes. is now the best way to be insured again from the coming season? Can I expect a penalty later? What would you do in my place? Thank you and Greetings Steffen