One is obligated to appease and ask for forgiveness from one he has
wronged. He must try several times, each time bringing 3 people
with him and using a different method, and must explain to the
wronged party exactly what he had done to him, unless the
wronged party would be embarrassed to hear it. (MB 606:3)
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Adopted from the shiurim of Ha Rav Leible Sternberg