The words can be misread. Now Jacob didn't simply instruct Joseph to forgive them.
Repentance and forgiveness is vital even among believers. Repentance to God is most important, but if there is an offence, then there should be an apology and regret, and there is forgiveness, and that is the pattern among God's people. Of course, we cannot be apologising to each other non-stop. We commit many offences against each other, some of which are done artlessly. We don't even know; we are not even aware we given offence. But there are many causes of offence between Christian people. Many quite small things. We may hurt each other, deliberately or inadvertently; doesn't matter. Sometimes a repentance is expressed equally well in simply a change of attitude and behaviour. So you don't necessarily demand an apology. If a person has offended you in some way, but changes their manner and attitude, and has obviously considered that wrong, and has mended their ways, then we accept that and we forgive them. Of course, some offences may make us careful. Somebody may have forfeited trust. We can't trust them one hundred percent immediately, overnight. We will try to relate; we won’t hold it against them; we won't complain about it, or talk about it, but the person has certainly got to re-earn our trust. So it's not as though an apology or change of behaviour necessarily requires of us – if we are the offended ones – complete total warmth, and happiness, and trust. No, if you have offended someone, you've got to re-earn your spurs, and earn the trust again. So it may take a little while for full warmth to be restored. But nevertheless, there must be forgiveness.