If someone is described as being venal, it means they are willing to do something corrupt, especially for a bribe. For example, if a judge is willing to take a bribe in exchange for reaching a certain verdict, then the judge would be described as venal. Venial, on the other hand, describes a very minor offense that can be easily forgiven. If your parent says "You can only have two cookies," and you take three, that minor disobedience is something that could be described as venial.
A corrupt, venal person knowingly does something wrong, bad, or even evil for self-benefit. To bribe someone to do something illegal is a venal act. Here are some examples of venal being used to describe contemptible behavior:
Having bribed the most venal members of the Sacred College, Francesco della Rovere was elected Pope, and assumed the name of Sixtus IV. (Renaissance in Italy, Volume 1)
There was something venal about his thin-lipped face; he had the air of a man to whom corruption was familiar. (Americanah)
Many in Peru see the legislators as venal, corrupt — and responsible for adding political turmoil to the economic and public health crises the country was already facing. (The New York Times)
Robbing a bank is a major crime, not a venial one. But, gobbling up the last piece of chocolate cake without asking would be a venial mistake as long as nobody was seriously hurt by it. From the Latin venia meaning "forgiveness and pardon," any venial action is small enough to be excusable and can be forgiven. Here are a few examples of venial in sentences:
In the third grade I could distinguish between venial and mortal sin. (Hunger of Memory)
Here’s an important difference: a venal action can land you in prison, making you part of the penal system; a venial one is more trivial.I used to think that driving a few miles over the speed limit was at most a venial sin. (Forbes)