Part of growing up is navigating relationships. I would let her know she's learning and wisdom comes with experience and mistakes. She's owning her mistake and if she thinks she owes them an apology and will make her feel better then that's what she needs to do for her sake. This age is awkward. My daughter used to act weird before an event ended and we finally determined it was because she didn't want it to be over. By helping her see it, she was able to manage her feelings better and realize she was isolating herself which was the last thing she really wanted.
In my household we have a saying, "own your mistakes, fix them as best you can and then move on." Don't let her hammer it out excessively. It was her first blunder and it won't be her last. Learning how to forgive yourself and get past it is so important.
If your husband was embarrassed by her behavior, he could have pulled over and corrected her privately. I have zero issue correcting either of my kids when they're among friends. I try my best to do it as privately as I can but poor behavior demands immediate, calm correction.
Again, this age is hard on many levels. A great sense of humor and a glass of wine will go a long way.