I stupidly let a dog lick my penis. Am I doomed to feel like a total creep for the rest of my life?

Throwaway for obvious reasons. Yes, I used the stereotypical peanut butter on dick scenario. Gross. Before I get downvoted into oblivion, (1) this thread is serious (2) never did anything more (3) obviously extremely regretful that I ever did such a thing. I was very depressed at the time, on medication, losing my religion (happy, mostly upstanding humanist now), and didn't care about not doing psychotic-type things. Not to get painstakingly detailed, I masturbated afterwards because at that time my fucked up mind basically got off on anything degrading/freakishly kinky/wrong.I was basically like, "How much more pathetic can I get? Oh, I know..." and didn't care. I actually planned on committing suicide at some point anyway, so what did it matter then?

Again, how can I simply put "make it right?" The reason I post this here is the concern of never being able to tell my future spouse something about me. I really like the principle of "I can tell you absolutely ANYTHING(/I have nothing to hide)," but I honestly don't know if I could. It's that embarrassing and antisocial in my opinion. I'd be lying. I'd honestly rather confess something like "I killed a man back in '84" (not true) than this, but at the same time, I value honesty.

I just need psychological advice I guess. I'll answer any more questions about my life if you need me to. It doesn't seem like something I dwell on overly much as to warrant therapy or some crap, but at the same time I routinely feel disgusted knowing I'm a person who did such a thing and knowing I couldn't admit to it. I'll always be "that guy" who did that, even though no one knows but me, and now you, reddit. How can one move past any deeply "shameful", disgusting, unspeakable or embarrassing like this, even if it could be worse?