For all of us make many mistakes. If someone does not make any mistakes when he speaks, he is perfect and able to control his whole body.

For in many things we offend all. If any man offend not in word, the same is a perfect man, and able also to bridle the whole body.  James 3:2

The apostles includes himself.  Yes, apostles do make mistakes.  Does that mean that there are mistakes in the Bible?  As it works out, there are no mistakes in the Bible.  Only God could do that.  But as the apostles traveled from town to town building the church, they made mistakes.  Jesus Christ is the only person who ever lived who made no mistakes.