What is the way to reconcile with parents after angering them, especially when it happens repeatedly?

It is not permissible to anger one's parents, raise one's voice at them, or express annoyance with them, even if they treat one poorly. Rather, one must hasten to appease them, apologize to them, and endear oneself to them through kind words and good deeds. One should avoid everything that provokes their anger, strive to honor them exceedingly, treat them with excellence, and endure their ill-treatment if they err, for the rights of parents are immense, and Allah has associated kindness to them with His worship.