How to get out of this guilt? It's always on my chest

Hi so I'm 19M.it dates back to pre covid time when I was considerably young.i studied with a friend at some teachers place.we used to meet 2-3 times a week.he was 6 months older than me and quite good looking.so one day I saw his pp and accidentally touched it I saw he didn't mind.then i realised I was not even tad bit straight.im a full blown gay person.so we used to meet and I touched his dick quite often.i know it's fucked up.i didn't have a moral compass back then.the worst part is in grade 10 he low key resisted but I still went on fondling his d.but after but after covid i stopped.i still can't forgive myself.till date no one knows it.even tho the guy is cool about it now but i don't think it's fair.i don't know how to come out of this guilt?