It seems that you have realized that your actions may have broken your parents, which is a great first step, and the key to apologizing is to be sincere and show your remorse. You can find a time to sit down with your parents and be honest about your feelings, telling them that you know you were wrong and that you want their forgiveness. At the same time, you can also listen to their thoughts and feelings, maybe this will give them a better understanding of their feelings.
It may take some time and effort to get your parents off. In addition to the sincere apology just said, you can also try to do something to make up for your mistakes, such as helping with household chores, preparing a meal that they enjoy, or accompanying them to do something they enjoy. These practical actions can allow them to see your changes and efforts