Council confirmed an investigation was undertaken by the depot manager at Go Bus Transport Ltd and the passenger will receive a letter of apology.
Chris Perley, a former Green Party candidate for Tukituki who has Guillain Barre syndrome and uses a wheelchair, said an apology is "pointless" if the company and drivers don't learn from the incident.
Perley said people often make assumptions when encountering someone in a wheelchair.
"There is a big difference between a quadriplegic, who does need assistance, and a paraplegic who could be lifting weights, throwing discus and so on," he said.
"We're quite capable of living by ourselves. But the most important thing here is the company and the drivers learn so it doesn't happen again."
Council's general manager policy and regulation, Katrina Brunton, said the bus driver involved has acknowledged he made a mistake.
"We are very sorry for any embarrassment and inconvenience caused to the passenger," she said.
According to GoBay guidelines, if a wheelchair size and weight complies and the passenger can board after a ramp is lowered, pay their fare and disembark independently, they can travel without a caregiver.
Martin, who is self-proclaimed "abled body disabled", said he had never had a carer and does everything for himself, from driving to mowing his lawns.
"I can do everything - I've driven tractors on farms, been hunting, I do my own gardening, I build, I drive," he said.
"I'd very much like an apology as this isn't the first time this has happened. The council said they would talk to the driver, but I wanted them to talk to all drivers."
Brunton said all GoBay bus drivers will be reminded of the wheelchair guidelines in due course.
She also said the guidelines have been in place for "a number of years".
Lyn Mcclure, who was waiting at the nearby doctors, said she was "gobsmacked" and concerned for the health of Martin.
"It was freezing cold and he was lightly dressed," she said. "The receptionist saw him outside and opened up early to let him into the warmth.