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I can’t let go of regret

When I was around 13, and my sister was 11, we began dry humping each other. We didn’t do it everyday, but it happened every now and again for the course of a few months. We never had genuine intercourse, and never did any oral sex, it was just humping. I didn’t know at the time what I was doing was wrong, but now I recognise that and I’m struggling to live with the guilt of it happening. It was consensual, it wasn’t like I forced her or anything and a lot of the time she was pushing it.