Apologize for drunken behavior

Last night I was at a party with friends. Midway into the night three girls showed up with another one of our friends. The three of them were kind of stuck together so I ended up talking with them for most of the time. As time went on I got a lot drunker, them slightly. As time waned on I was talking and getting closer to one in particular and when I rested my head on the table, my hand slid down from her arm to her leg. while keeping a conversation with her friends. No one stopped me, though it was probably obvious to her and her friends, but now I feel bad. I don't actually know this girl and the amount I was leaning on her I feel bad for, despite the fact that everyone was smiling.

The real question is, should I tell her I am sorry? I am but I am not. I am sorry if I made her uncomfortable, but what I did was due to drunkenness.
Apologize for drunken behavior
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