SEOUL (Kyodo) -- South Korean President Yoon Suk Yeol survived an impeachment motion Saturday over his short-lived declaration of martial law, after the motion was scrapped due to a lack of the required number of voters in parliament.

Most of the members of the ruling People Power Party walked out of the parliament chamber and boycotted the vote on the motion, despite the speaker of the National Assembly calling on them to return.

Yoon earlier in the day apologized during a televised address for causing public anxiety for the declaration of the state of emergency that involved orders banning political activities and the mobilization of the military. But he did not offer to resign.

"I sincerely apologize to the citizens who were likely greatly alarmed," Yoon said in his first public appearance since he rescinded the martial law order about six hours after he issued it late Tuesday.

While insisting that the declaration of martial law was "made out of a sense of urgency," the president said, "I will not evade the legal and political responsibilities arising from this declaration."

He also pledged such an event will not happen again and that ways to ensure political stability, including his own term, would be entrusted to the ruling party.

After the motion to impeach Yoon was scrapped, Lee Jae Myung, the head of the main opposition party, the Democratic Party, said, "The People Power Party is not a democratic party. It is a party of insurrection, a party of military coups."

The DP "will never give up" and will "ensure that Yoon Suk Yeol, who has become Korea's greatest liability, is impeached," he added.

The motion was submitted Wednesday by the DP, which holds a majority in the assembly, and five other parties.

Impeachment requires support from two-thirds of the 300 members of the unicameral legislature, which means at least eight votes from the ruling party are needed.

South Korea's Constitution allows the president to declare martial law in the event of war or a serious emergency, but the opposition parties, the public, and even members of Yoon's own party criticized his sudden action as unconstitutional and undemocratic.

Yoon's government has been in limbo as it has been unable to pass its budget plan in parliament. Yoon has also faced condemnation over a corruption scandal involving him and his wife.

After Yoon declared martial law, military personnel forcefully entered parliament, clashing with lawmakers who were also trying to enter. The military personnel were dismissed after 190 members of the 300-seat parliament attended an emergency plenary session and all approved a resolution demanding Yoon lift martial law.

Many South Korean citizens showed their anger toward the declaration as it reminded them of the time when dictators led the nation.