Write letters to all the people you feel you may have wronged. Doesn't matter if these people are no longer on this earth, as you don't need to send the letters. Just write them, with love and care, apologising for anything you may have done to upset them. Tell them that if you could, you would turn back the clock and undo those things. Tell them you love them, and that you always loved them, even though it may not always have appeared that you did.
Read each letter through afterwards, out loud if you wish. It can be quite cathartic writing down our regret for past behaviour and apologising for it in this way. You can then destroy the letters.
Of course, if any of those you feel you have wronged are still living, and close to you, you might want to talk to them and let them know how the incidents have been haunting you.