Must one ask forgiveness from his parents if he does not fulfill this mitzvah properly?
This matter is dependent on the above debate. According to the first approach [Bein Adam Lamakom], one is not required to ask forgiveness from his parent. According to the second approach [i.e. Bein Adam Lechaveiro], he is required to ask forgiveness from his parent. [Practically, based on the Rebbe’s conclusion, one is to ask Mechila from his parents if he did not properly respect them.]
 Minchas Chinuch Mitzvah 33; See Ben Ish Chaiy Vayelech 1:6; Encyclopedia Talmudit ibid;