I provide sexual relief to my daughter

Hello everyone,
I need to confess, because the guilt is eating away at me.
I am a 60 year old father of a 25 year old daughter. She is not disabled, but she has mental illness.
She becomes obsessed with certain behaviors, and cannot break away from them. Shopping, extreme sports, etc.
For a long time, I've known that she m*sturbates excessively. Since she was a teenager, she spent a lot of time in her room, and I would hear her for hours (wet noises, vibration, sound of p*rn videos, moaning) which bothered me a lot.
Therapy did not help much.
After her studies, she came back to live with me, and her obsession was so serious that I talked to her about it.
She told me that her lack of love and lack of sense of belonging made her that way. It upset me, I didn't know my daughter felt so alone.
I offered her to come and talk to me whenever she had this need to fill. At first, it just brought us closer. We hugged a lot, we talked a lot. I felt like it helped.
But when she wanted comfort in the middle of the night, I was half asleep and wouldn't say no to her when she started rubbing against me. I was too tired to complain about it. Once she even put her hand in my underwear. I told her no, but she kept coming back, and it kept happening.
I'm a weak father, I can't deny it. I let her do more and more, until she was humping her n*ked kitty on my hairy thigh every night. I held my daughter while she moaned in my ear and made my skin wet.
I'm disgusted in myself, but it made me hard.
We escalated to having se*xual i*tercourse almost every night. She lies on her back and hides her face with a sheet or pillow, so I can pretend I am not making sweet love to my daughter.
I fear I'm causing more harm to her obsessive behavior. But she doesn't want me to stop, and I'm ashamed to say I like making her moan and gush. I like sinking into her hot s*it at the end of the day. I like c*ming in her.
Thank you for reading

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