Did I cheat?

Okay so I know that this may sound silly.

But when my husband and I first started dating, like maybe 6 months into it, I worked as a server at a bar/restaurant. They close at 2am and I knew he was sleeping. Well I kinda was flirting with this guy who was a regular and he was super cute. He asked me and few of the other servers to come over to his party so we did. I didn’t let him know. So we went over there and I got really drunk. I ended up sitting on his lap and was kinda flirty. We did not kiss or make-out. He was grabbing my hips and kinda touched my outer thighs a bit. I gave him my number and left. He texted me when i got home to make sure i got home safe. I ended up (drunkenly) said that he was super hot and I’d fuck him if I wasn’t dating my boyfriend. He said thanks I’m glad you’re safe and ended the conversation and didn’t talk to him since. This was 2013 and he died in a motorcycle accident about a year later.

Fast forward 5 years later, my boyfriend and I got married and we’ve been married for 2 years now. I still feel bad to this day about it and not sure if I should tell him. I really feel bad but I might be overthinking it and being dramatic. Should I let it go or did I cheat?