How to apologize when you shouldn't have to?

I would discuss it with your parents let them know your thoughts and feelings on the vacation and family. If they don't agree and still want you to apologize i would do it in a , I am really sorry if you misunderstood "something" and thought i was being disrespectful because that was not my intention and then tell them , exactly what you wrote above. You seem very articulate use it to your advantage. don't apologize as much as explain.