1) Robert Palmer issued a public apology to Mary Ambrose.
2) Robert Palmer paid Mary Ambrose a substantial amount of money as compensation for the emotional distress and financial losses she had suffered.
3) Robert Palmer agreed to provide financial support for Mary Ambrose's children until they reached adulthood.
This settlement agreement was reached in August 2021, and it brought an end to the legal battle between Mary Ambrose and Robert Palmer's estate.