Relationship with mom

Aboit 3 years ago my mom and I got into it while we were driving in the car. Days earlier, I had just gotten married and I woke up to her text asking for me to take her to the hotel. I was not sure why since my husband and i gave her keys to a car. Anyway I always thought she didn't respect me as an adult. This day was no different. Talking about events from the wedding got heated and she told me she would beat my ass. This was not okay. I was done. After 2 overseas tours. And my last tour including someone saying they would kill me. I flipped. I pulled the car over into a Walgreen and called the police. I was not going to deal with her talking to me like that. Fast forward three years later and two kids in tote she finally breaks silence. She wants an apology. She says I treated her bad after a paid round trip ticket and keys to a car. Im really hurt from her as well and don't know what to do