Was I a Bad Friend?

So my anxiety is kicking in i guess...

So last night me and my GF went out to her ex boo thang’s party and later to the bars. Before we left her house the objective was that we were open to hooking up, her with her ex and me with whoever i was feelin’ at the party. So pretty much we both wanted dick. She did however wanted to leave around midnight and get home at one but as the night went on it was not turning out that way. When we were at the bars I couldn’t asses whether or not she was trying to leave so we can drop off the guys at their place and go home but needless to say we didn’t leave the bars until like 1 am.

On the way back to their place the guy i was into was totally feeling on me as we were sitting in the back seat of her car, and her and her ex were in the front. I’m talking full hand in my pants and him trying to push my face down to his dick. I kept telling him no but man, some guys just be hella aggressive and don’t take no for an answer. But both my friend and her guy saw and I felt horrible because it was so disrespectful for us to be doing that in the back seat of her car and I should have been more assertive in telling him no 😔

When we got back both of us ended up hooking up with the guys and I asked her if she was okay that we ended up leaving much later than she wanted, because she’d been in deep with her mom but she’s smitten with her ex and is contemplating getting back with him and that the sex with him was amazing so all is good? I just woke up this morning feeling like a bad friend.