My son's friend

I had sex with my son's friend on our house boat after the 4th of July celebration.
My husband and I own a is a firefighter and couldn't join us. It was me, my son (19), his girlfriend (18) and my son's friend Robby (19) and not his real name.
We met around noon and my son was captain. We set up for the day in a cove with shade and a view of the fireworks later that evening. We took turns swimming to cool off from the heat. I was wearing a modest 'mom' two piece swimsuit from JC Penny. I also want to add that I'm just an average 42yr old 5ft 2in mom. I don't want to give the impression that I'm some rocking hot MILF the internet is always posting photos of.
After the fireworks ended, my son took us back to the marina. His girlfriend had to work the next day so they quickly left and I agreed to stay and secure the boat and clean. Robby had no plans and offered to stay and wash the aft deck while I tidied up inside. My son called and told me a bad wreck had jus occurred on the tiny road. They made it through but the police had just arrived and told them they were going to close the road because a fatality. He wanted to let Robby and I know about the traffic. I told Robby I was going to stay on the boat for the night and he could too. It has one master bedroom and two couches that convert to beds. Heck, he's stayed overnight before but my son and husband was with us. The boat has a wet bath but it's tiny so I used the shower at the dock to rinse off. Robby did the same. Since I was spending the night, I had a glass of wine when I got back. Robby and I sat and talked until it was time for bed.
I'd just got comfortable when I heard a knock. It was Robby asking if he could ask me something. I turned on a light and he opened the door and standing in front of me naked and his penis was fully erect! I was in shock. I didn't want to get too loud because others would hear. I whispered loudly "What are you doing?"
Robby is a good boy. He was a soccer player in high school and is still in amazing shape. He's always been polite and respectful this was a side of him I'd never seen. I could tell he'd planned out his speech. He said, "First of all, I want to say you are an attractive woman and I've struggled all day to hide this while you've been running around in that sexy bathing suit. We're alone. I don't want to wreck your marriage or ruin any friendships. You are beautiful and I just want to have sex with you one time. If you say no. I'll understand and go back to the couch for the night."
I paused to let this sink in. I'm a married woman but I'm also alone with a naked attractive male staring at his impressive equipment. The naughty voice in side me said 'what the hell. do it!'.
I didn't say anything. I reached under the covers and pulled off my panties and tossed them at him.
Poor guy was so excited he didn't last 2 minutes. It was a lot so I used the wet bathroom on the boat. I should probably add that my tubes are tied and I gave him approval to finish inside. I came out and he was on the couch. He kept thanking me and apologized for it being so quick but blamed it on me being so hot. This time I was naughty, I rubbed his crotch through the blanket and I felt he was semi-hard and getting hard. I asked if he could go again. We went to the bed and this time I was got on top. This time we kissed for the first time and had sex like horny teens on homecoming night. We were both spent so slept together. The next morning, he was a little shocked when I took care of his morning wood. After morning sex, we agreed this was a one time thing and would never happen again.
He promised. He confessed that he didn't know how I would react when he came in naked but was so glad he did. He added he never thought we'd have sex two more times after that either. Still in the boat so no one can see. We kissed for a few minutes and made our way out.
The crazy part is. I never thought I would cheat on my husband.
I know I should feel guilt but I don't.

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