<human>: Can you succinctly summarize the text in 1-3 sentences?

I (30M) was on my way back home from the grocery store when I ran into my friend R (30F) and her friend L (?F).  Now I hardly ever see my friend R and I had never seen her friend L before but she looked to be somewhat older than R so naturally I thought L was R's mom.  I was totally wrong about that and I know that I hurt L's feelings but my friend R just played it off as me always being a jokester.  I didn't have my glasses on and it was dark out so I couldn't truly gauge how old L was, but I feel really bad about it.  

Should I apologize to my friend R and explain to her that I didn't have my glasses on and it was dark out so I couldn't see too well or should I just let it go and never bring it up again, ever?
<bot>: I mistook my friend's friend as her mom and feel horrible about it, should I apologize to my friend after she covered for me or never speak of this again?