The word renacimos is the preterite form of renacer in the first person plural.
See the full renacer conjugation

renacer

Hemos recibido el Espíritu cuando renacimos por el bautismo, y cuando fuimos fortalecidos con sus dones en la Confirmación.
We received the Spirit when we were reborn in Baptism, and we were strengthened by his gifts at our Confirmation.
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