Treasure the time you have when both parents are around with you and providing you a wonderful family. People will not know the pain, the irritating part until when it turns foul. By then, no one can really understand what you are thinking, what you actually want. No one knows what will be the right word, right attitude to face you.
Regrets doesn't bring you anywhere, will just holding you back, escaping from reality. Its too late to apologise right now, there's no U-turn in life. All you can do is either move on with life, or staying at the position, and need to know that no one will actually pity you. There will be changes in every single person. whether to accept the changes, its up to the person to decide.