Hadhrat Thanvi (may Allah have mercy on him) said;

The Holy Prophet’s ﷺ Sunnah in seeking forgiveness

Once the Holy Prophet ﷺ stood in front of a large gathering of his Companions and said, “if I owe some money to someone, he should tell me and take it from me. If I had hurt someone physically he can either take revenge for it, or forgive me.” One companion stood up and said, “O Prophet of Allah ﷺ, one day you had hit me on my back.” The Holy Prophet said ﷺ, “If I had hit you on your back, then you have a right to hit me on my back.” When the companion came close to him he said, “O Prophet of Allah ﷺ! When you had hit me, I didn’t have a cloth covering my back, but there is a cloth covering your back.” The Holy Prophet ﷺ lifted his cloth. The real intention of the companion was not to take revenge, it was to kiss the seal of Prophethood and so he did. But the Holy Prophet ﷺ was prepared that if he owed a right to anyone, he was ready for that person to take revenge from him.