I made a small joke which offended my manager. It wasn't racist, sexist or anything of the sort.

Here's what it was. My manager is the head of an extracurricular club at work. Since it's the start of the year, he asked his team (us) to sign up for the club and to help him out. We willingly supported him and signed up for it. After thanking us, he said he hoped to see us participate in the activities. I made a slight joke saying, "We didn't expect it to be a lifetime commitment!" And that's when he walked out of the room, saying that he felt we were forced into signing up.

I've already apologized via email. My co-workers said that I had to adjust to his personality type: being a "feeler." I'm a thinker first, a feeler second and a controller third.

But I would also like to talk to him because this isn't the first time he's reacted this way over a small thing. How do I approach him?