<human>: My girlfriend is a very friendly gregarious person and so are her friends.  It is not unusual for her to go out to dinner with her friends and have a little bit of wine.  Last night was no exception; she went out with a friend of hers who I find just as attractive as my girlfriend.  We are 39-40 years old and looking pretty good for our age.  They came home together and we drank a little more and her friend was reluctant to drive home, which was the safe decision.  We said she could sleep in our guest room, but when it came time to go to bed we all got into bed together with my girlfriend in the middle.  It may sound strange or not, I don't know, but it didn't seem sexual, and I knew it wasn't going to go there.  But, in the cuddle, I rested my hand on the friend's ass, and maybe I caressed it a bit.  It wasn't sneaky or furtive.  Then, I got banished to the guest room.  And to be honest, I would have loved it to have gone a little further.
The friend left before I woke, and as I showered and headed to work, my girlfriend seemed hungover, but otherwise ok.
The question is: am I going to have to pay a price for this?  Did my behavior go too far?

Can you provide a brief overview of the text?
<bot>: In bed with girlfriend and her friend, I touched the friend's ass; Am I going to be in the doghouse when I get home?