How to Argue

Is there a correct way to argue? I had an argument the other night and ended up feeling guilty. I wonder if I went too far. Did I cross the line when I kidnapped their Sugar Glider named Terrance or stole their grandmother's urn. All kidding aside, is there a way to have a positive outcome to an argument? One where both sides come away satisfied and there is no resentment. After reading "How to Win Friends and Influence People", I was convinced that arguments are pointless. I realize now that they are a necessity but I just wish they were easier.