Will it get better?

I was getting back from a walk with my dog and in my haste, I accidentally unclipped the wrong part of the harness. My dad yelled at me about it and stormed off (mind you, it was just a buckle that you could snap back in a second). I tried to explain to him that yelling doesn't solve problems and he just said it was normal for adults to get mad/ did his usual stuff when we argue (calling me a narcissist, saying he's sorry he even tried with me, telling me it's my fault for never listening to him, while my mom does nothing) and now I'm crying in my room, waiting for both of them to leave and I feel kinda bad. I wanna know from the older people, will I get better at listening or am I just doomed?