should I feel bad??

Is it completely okay to touch your male friends dick? and joke around with eachother but know for sure there will NEVER be feelings!? Like I did it and I don't know whether I should feel bad, but it was funny as and I don't see it as a sexual act!!  We have a relationship where we will joke about this and see it as a funny thing, but no one else really understands that... I dunno. I just need some guidance !