What should be the penance for this guilt?

i hurt my father, very much by shouting and arguing with him.... i had been doing this for years, my father is very hurt, i have taken a vow not to get angry again, but no other girl in the world hurts her father like i do....i love my parents especially my father very much, but i dont know whther i took more freedom with them or whther they gave me enough freedom ...i hurt him to the point that he cried.