Touched my frnd when she slept beside me.

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Me and my frnd were sleeping in a same bed yesterday night. Suddenly i got aroused when she came inside my arms with her back facing my chest, her back was touching my penis. I couldn't control so i grabbed her hips and thrusted my hips a little bit. I touched all over her body. I didn't proceed further but i couldn't sleep. So i hugged her from behind and layed there. Morning she asked did i do anything wrong yesterday night. I said nothing like that. She said she was asleep and didn't know anything. I thought she was awake while i was doing it, but in the morning she said she was asleep. Now i feel guilty that i took advantage. Pls help

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