Unfortunately, if you can’t sell your house for what you owe on it, or bring some money into closing, you can’t get out without some consequences.
There are two main options:
Foreclosure and Deed-in-lieu of foreclosure. These are both the same thing, but with deed-in-lieu, you basically voluntarily surrender the house for the bank to sell.
In either case, the bank will auction or sell your property and charge you for the deficiency. If you can’t pay the deficiency, they will try to collect it through normal collections efforts. Sometimes they will charge it off or 1099 you.
Usually though, bankruptcy is the only real way to be rid of the debt.