Good parenting is more a perspective and viewpoint. Respect them as people basically the same as you, but with radically different life experience. How to atone? If you recognize it as wrong you must have remorse. True remorse to another person is evidenced by an admission of the wrong, cessation of the wrong, and restitution for the wrong!
I'd say these sorts of questions go through my head 20 times a day on workdays and 100 times a day during the weekend. Usually in flurries. Maybe there's only a couple of corrections that actually need to be made, but the introspection goes on.
And what to do when I did it wrong? How to atone to my child? That's perhaps the most important part, I think. To see that wrong is wrong even when dad is the one who's wrong.