Drunkenly touched a girls leg

Remorse

I'm a 19 year old male, and was at a lingerie party. Needless to say, I was very drunk, and as I was walking about to leave with my girlfriend, another girl was bending over in some panties. I sort of lightly rubbed her leg as I passed. I don't really know why, it was just kind of instinctual. I immediately felt really bad, like I had committed some sort of sexual assault. I've decided I don't want to get drunk anymore, but I still feel bad.