Ok OP, I guess I have to ask you what do you want from this outcome?
3 approaches come to mind....
1) It is pretty clear to me that your dad wants you to apologize for this so he can "win".
Now you can do this approach if you want. The reasons for taking this path are that your dad is not going to change and he is going to esculate the crap to make you buckle.
The reasons why you would take this approach is because you want to end his foolishness and don't want things to go on.
So what if he "wins", I mean he is not winning anything but in his mind he is. It is the easy way out, but hey, sometimes you may not have the time or energy to deal with going to battle. (evaluate your situation to see if this is the approach you should take)
--------------
2) You could take the other path of standing your ground. This would require that you are ready to do it. Once you head down that path there is no going back. It will make your dh's comment seem like nothing compared to what you will have to say to your dad.
------------
3) You could continue life as usual and wait it out. This is not a bad approach however it takes
alot of restraint on your part to work. While it seems like the easiest approach, in fact it is the hardest of the 3.
You cannot vent or talk to ANY family about it and that esp. includes your husband. You must remain aloof even with your dh and kids. Say oh, I don't know alot or something else aloof (come up with canned responses)
It means that anytime a family member wants to talk about it you have to say, eh, no big deal and blow it off.
The key to this approach working is that NOTHING gets back to your dad. And this is how you win. A manipulator is counting on hearing about how you are venting to others. Everytime they hear a tidbit they do a victory dance.
Also you are learning the valuable ninja skill of handling a manipulator.
One way to help your mind get through this approach is to think of your father as someone who is mentally "not all there" and pity them.
Pity them because they do not know how they are hurting their own child and the horrible reality of that is something they do not want to face.
So there is my 3cents....I am sure there are other approaches to take but those are 3 off the top of my head.