Feeling guilty

So last night I went to party with my cousin, sister and a few of their friends. We where having a good time but my sister left early because she doesn't like to stay for to long. I ended talking to her Best friend, let's call him David.

So David and I are getting along really well, and he then kisses me. I felt bad that he did this as I told my sister I wouldn't do anything with him. Anyway we end up alone in a room where someone else has passed out, and ended up having sex.

I feel so guilty about it, but then again we are both of age to give consent. And we both wanted it. Was it a dick move to have slept with him?