I’m shaking

Today I had my boyfriend over and my parents weren’t home only my younger brother who is 18. We normally don’t go in rooms when I have my boyfriend over but we were very horny and I started to give my boyfriend a handie in the corner of the living room but we had most of our private areas showing. Suddenly my brother walked in and I was mortified. He luckily didn’t tell my parents anything but I want to know what advice you have. I have been giving him space today and I want to know if anything similar has happened to you. Ima afraid our brother sister relationship will forever change and I’m so disappointed in myself.

UPDATE: I’ve tried talking to him but he doesn’t want to talk about it. He just says to leave him alone and just don’t speak to him. Should I wait for him to come to me?