Last night one thing turned into another?

yesterday my brother's friend stayed the night(8th grade-almost 15) and so did my friend. well there was limited room on he couch, so me and my brother's friend were laying on the couch on opposite ends. we started playing footsies and we both started rubbing each other a little higher . we eventually got to each others uh, private areas, and were rubbing each others areas with our feet(we had our clothes on). i'm in the 10th grade,almost 16 and feel really guilty about it all. he's cute, but younger. should i feel like this about the situation? any advice?