Parents are still people too, who can say things they regret later. To me it sounds like they are very supportive, and in being supportive they are showing they are sorry for the things they said in the heat of the moment. You're lucky to have supportive parents. I would try to forgive them for the things they have said that have hurt you. To me it seems like they regret it.

I understand how you feel though, or can relate. My parents have said some downright nasty things to me that I have trouble forgiving them for because unlike your parents, mine were never, and still aren't, supportive of me.