Dear {Name},
I owe you an apology for how my dog behaved the other day. {Name} is well-trained, docile, and has never caused an issue with others. Perhaps this led to my own overconfidence, as I did not anticipate {biting/fighting/jumping/etc.}.
I'm so sorry that you were {startled/inconvenienced/injured/suffered property damage}. In the future, I will leave {Name} at home when meeting with you. Or, perhaps you'd like to come over sometime and get to know {him/her} in {his/her} own environment. {Name} really is a good dog.
Sincerely,
{Name}
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