If we hurt (physically or emotionally) someone , we absorb bad karma in us. How to do repentance for it to get rid of that sin ?

Is it best to seek forgiveness from the person directly or should we do the repentance alone ? In case it is not possible to seek forgiveness , how to do repentance to get rid of that sin ?

In case , the person forgives us , do we get rid of the sin ? Or Do we have to bear thee fruit of the bad karma , even if the person forgives us ?