Advice on honoring parents?

I have a difficult father. Not a bad person, but with certain flaws and lack of self awareness and self control (or maybe apathy to how he affects other people) that in combination cause a lot of stress and pain to me, my mother, and my siblings. He also doesn’t treat my mother well. My parents are also aging now so I have more responsibility to them. I am struggling with how to approach all of this. I would really appreciate the perspective of fellow Jews on honoring our parents in practice. Your experience, reading suggestions based on Halacha and other jewish guidance, how I should pray about this… whatever you think could be helpful. Thank you in advance.