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I feel extremely guilty for what I did
Okay. I was around 14 or 15 and my sister was 17 or 18, she had to sleep in my bed once. And I've never found her sexually attracted, but that night I got horny, and touched her butt, and then rubbed my erection against it, that's all I did and ever since really felt horrible about it. I'm scared that if I had the chance, I would have rubbed her other inappropriate area and I'd never wanna do that. I'm horrified about what I did and feel guilty more than anything.
No guilt. Admit you enjoyed it. Before I started officially messing around with my older sister, I did similar things. Some accidents, some not. We were in the back of a friend's car, on the way back from a football game one night, under a blanket b/c the car was cold.
I was a bit horned-up, and, having her fit, warm body leaning on mine provided a great opportunity. I unsnapped her jeans, slowly lowered the zipper as she slept, and palmed her mound for miles. Didn't finger her, but did move my fingers around as if going to. Did hear her sigh once, but she just curled up into me, resting her long-nailed fingers on my crotch. That only got me more hard for her.