Men are clumsy. We cause offense all the time. When we do, we apologize as soon as possible after the offensive event.

Apologies come in 3 parts:

1) I'm sorry I _______________________________.
2) My mistake was ______________________.
3) How can I make it up to you?

And then you stop. You've done your duty. Whether you are forgiven or not is not up to you, rather, it's up to the offended party. A man accepts their decision as final.