Is a son's verbal quarreling and yelling at his father considered disobedience if the father is pleased with his son?

A son's harsh words and raised voice towards his father constitute disobedience (ʿuqūq) and ill-manners, even if the father does not become angry about it. If the father has forgiven the son and pardoned him, the son still needs to repent to Allah Almighty for what occurred, because disobedience to parents is a dereliction of the father's right and an act of disobedience to Allah.