Didn’t think and made out with my best friend

Today I was bored and my best friend was joking about how he was gonna drive to my house for dinner (neither of us intended for it to be anything more then us hanging out) he played with my brother for a while then we watched the Celtics. We got kinda close on the couch and one thing led to another and we ended up making out and going up to my room. We didn’t go very far just took our shirts off, kissing, grinding, and a little more but now what? Like nothing is weird between us but our friend group is so close idk what will happen if people find out. He’s also taking my best friends to prom and I’m going with a different one of our friends (as friends only). Who do I tell? Do I bring it up with him? He’s a good guy and not the type to brag about it at all.