Have you discusssed anti-psychotics with your PDoc? I have similar problems with dissociation/delusions/halucinations during my depressive episodes and going on Abilify has really helped. Taking action to prevent future episodes will help lessen the anxiety and enable you to focus more on repairing the current situation, and letting your Son/DIL know that you're taking concrete steps to hopefully prevent similar episodes in the future may help with fixing the situation.

Shayatanica is right that you shouldn't feel as if you purposefully did something wrong, you can honestly lose your mind to this disease and your feeling bad about it is a sign that you're a good person who simply has some major obstacles to overcome.

I hope it all works out, let us know how it goes!