@9MotorGang
I recently put together a collection of resources that provide more insight into PID. They range from a beginner to advanced level so it should be easy to follow through no matter your skill level. Additionally, there are both theoretical and concrete examples provided. I highly recommend reading through each resource as each one has unique strengths. You can find it here.
What you are currently experiencing is known as overshoot. The materials I provided should help you understand why this happens and how you can fix this.