y'all ever want to apologize to someone but don't know how ?

I rlly want to apologize to my dad for making him feel less and did things (acting like idk him) since I was embarrassed around him like 4yrs ago, I still feel guilty/sorry. but Idk howw its so awkward to do it bc in my house or even country we don't apologize often to begin with ┗( T﹏T )┛