My mom caught us!

I'm 16 and my mom caught my bf fingering me. Worst night of my life. She says everything is okay now and is just upset that it was under her roof etc but I feel so sinful and dirty and disgusting for it. I'm afraid my boyfriend is feeling a bad type of way too. For me this is even worse because I already had trouble opening up in general about sex since I'm so insecure and am very cautious about it due to my ex fwb. I feel this has just added on to the trauma, how can I help this situation for both of us??