Did I mess up by doing this?

He has a girlfriend and he usually ignores me around her, I don't know why. When his girlfriend isn't around, he talks to me. Well yesterday he was telling me how soft his shirt was, we were wearing the same kinda shirt but he told me to feel it cause it was so soft. And i felt it around his stomach and chest. I didn;t mean to do it but I felt weird after doing it, like a guilty feeling.
Did I mess up by doing this?
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