Is it time for me to grow up and apologize to my parents?

It's been 12 years since I've talked to my parents and father's day is coming up and my mom's birthday is later this month.I only know all this because I keep in touch with my older brother. He's been begging me for 2 years to say something to them. It's hard to talk to someone who told you that they regret having you and you were a disappointment as their child. They said this to me before kicking me out of the house for smoking marijuana twice. I remember them sending my brother out looking for me 2 days later. Was I just an immature teenager ignoring their rules and not coming home to apologize or was it right to hold this grudge. I feel like it's their fault and they need to apologize for what they said to me.