Agreed to a sexual act I really did not want to do, feel gross now

I'm just gonna preface this with the fact that this story is about gay sex, so if that's not what you want to hear about, turn back now.

So I(26m) have been good friends with my buddy who I'll call David(35m) for a few years now. I would easily consider him my best friend,we love all the things and we just have a really good time together conversation wise. We've hooked up here and there and continued to even after he got a boyfriend. (I know, we're bad people for that) It was mostly while drunk, not to excuse the act but for context of what happened tonight

So David's boyfriend,who I'll call Jay(28m),has never liked me, always been standoffish and rude to me, has previously told David he's not allowed to hang out with me. Really I can't blame him because I have been borrowing his boyfriend... But he didn't really /know/ that until tonight

Jay walked in on us having a drunk hookup in the garage. We thought he went to bed. I thought jay was going to try unaliving me or something but instead he asked to do things to me also... And I said yes because I kind of felt like I had to? I'm not attracted to jay in any way shape or form, but I just panicked and thought about how I didn't want to be banished from seeing my friend again,so I just agreed to whatever they wanted.

I don't feel... assaulted necessarily, but I definitely feel strange about it. It's not something I would ever have agreed to sober or under any other circumstance. I'm currently in their guest room at their house trying to sleep but can't because I just want to go home but I'm probably still drunk enough for a DUI. I tried to leave like an hour ago and David heard me trying to sneak out and stopped me to convince me to stay until the morning when I'm sober.

He tried to assure me everything is fine and jay isn't mad at either of us or going to prevent us from being friends/seeing each other. This whole situation is fucking bewildering to me because jay used to /hate/ me, straight up forbid David to hang out with or speak to me.

I don't even know why Im telling this story. I'm just trying to process it I guess. I didn't want to do anything like that with jay and I feel really gross about it..but at the same time I said yes and that's kind of my fault for agreeing to something I definitely didn't want. I guess that's what I get for being a willing side piece. I need several showers. Now I'm just anticipating the most uncomfortable morning of my life