TW: child sexual experimenting. Is this normal?

I have flashbacks of this day a lot. I was around 8 years old and I remember so vividly me and my one girl friend having a play date at my house and we somehow started sexually experimenting with eachother on my bed. Kissing, touching each others vaginas and breasts etc. no penetration. My door was open and my parents were home but obviously no one came in because were 8 year old girls what could we be doing. Ugh I feel so disgusted with myself all the time about it.