How to apologise (Simple guide on apologising)

We are humans, we make mistakes, we mess up or screw up. So as I was talking to a friend he made it clear that I have never apologised for anything! I was in shock, because I could have sworn I apologised whenever I messed up. Clearly I have never apologised, and he proceeded and told me the 3 steps to use to help me apologise the right way and that it should be done face to face not via text.
1. ACKNOWLEDGE to the consequences your action had on the other person(s) or how did your actions make the other party feel
2. APOLOGISE say " I'm sorry" or " I apologise"
3. ASSURE the wronged party that the mistake won't happen again, or you will do your best not to repeat the mistake, let the party know you are willing to make amends.
I am still learning how to apologise by using these 3 steps every time I mess up. We shall definitely get there..
Also check out video on WHY YOU SHOULD FORGIVE youtube.com/watch?v=Em5Erhvj4UQ&t=13s