Masturbated next to someone

I 19F, When I first started masturbating I was 17 and I sleep with my family since we only have two rooms and I didn't have my own room, so sometimes when I get the urge i would do it undercover, but my masturbation would be clothed and not without clothes and I don't cum, it's more like a coping mechanism. I would build a wall with my separate blanket between my siblings and a good distance and then do it undercover with my headphones on so I don't wanna hear their breathing. I only did this like probably 6 times which is fucking weird but I really didn't acknowledge how wrong this was. Now I'm 19 and I'm like, my chest feels heavy full of anxiety thinking about this shit. I never wanted to harm anyone. I couldn't do it in the bathroom since my bathroom is pretty small and I only have 1 bathroom and my father wakes up at night so I'm scared of that. I was so immature i understand.