Messing up is step one. Circling back the next day to check on the damage is where respect gets made.

Plenty of people manage the apology and then avoid the person, because the second conversation is more uncomfortable than the first. That avoidance is what leaves the thing unfinished. Coming back a day later to ask whether it is still sitting badly is the part almost nobody does, and it is the part that shows you were thinking about them rather than about being forgiven.

Go back tomorrow with a question instead of another apology. Is that still bothering you, is there anything I should do. Then listen to the answer without adjusting it.