Dear {Name},
I completely flaked. I know I promised to pick you up at {work/airport/etc.} on {date/time}. I'm so glad that you were able to get where you were going safely. I also need to apologize for not being reachable by phone. You must have been frantic!
I fully planned to get you as promised, but then, unexpectedly, {incident}. In all the confusion, my commitment to you completely slipped my mind. It was only when {incident} that I remembered that I'd left you stranded.
I would very much like to make this up to you. {Suggested remedies}. Just let me know what you think. Again, I am so very sorry.
Sincerely,
{Sender}
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