Consider a stochastic process $\mathfrak{X}$, regenerative at a state $x$ which is instantaneous and regular. Let $L$ be a regenerative local time for $\mathfrak{X}$ at $x$. Suppose furthermore that $\mathfrak{X}$ can be approximated by discrete time regenerative processes $\mathfrak{X}^n$ for which $x$ is accesible. We give conditions on $\mathfrak{X}$ and $\mathfrak{X}^n$ so that the naturally defined local time of $\mathfrak{X}^n$ converges weakly to $L$. This limit theorem generalizes previous invariance principles that have appeared in the literature.