While tickling a girl I accidentally touched her boobs, should I apologize?

This is my friend but not a girlfriend, while I was tickling her I accientally pressed her boobs. I think she realized it but I didn't say anything. Should I apologize now or is it late for it? There was a different tension and I couldn't say anything at that moment.

While tickling a girl I accidentally touched her boobs, should I apologize?
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