Drunken Dare An Inexcusable Sin?

I messed it. The other day I was drinking with friends at Thompsen and Thompsen's and did some stupid stuff. My friend dared me to let him put his hand down my pants for 5 minutes. I was drunk so I did it but I thought he would just leave it still or something. Instead he kept wriggling his fingers around and I KNOW that was not right of him. As soon as the time was up I ran to the bathroom cause I had to take #2 so bad from him wriggling his fingers around back there the whole time. Worst case is now I feel too embarassed to even pray about this to God. Did I screw up beyond beliefS?