I have been in a monogomous relationship for many years but strayed a few days ago and had an experience with another man which I highly regret. My detailed memory is sketchy but neither of us engaged in oral sex. I masturbated him without climax and he masturbated me to a point of climax no condoms. We mainly lay naked together, bodies close. I have no recollection of a deliberate attempt to rub genitals together but they may have come in contact when we were hugging or when he lay on top of me. Im not sure. I am very anxious. Can you offer any advice please?