<human>: Can you summarize the given text in a few sentences?

Met a girl this year, became best friends. Both attracted to each other, spend all our time together, made out in a bar once. This weekend, somewhat drunk after a party, had full-on threesome with my boyfriend (yes, it was extremely hot). None of us are excessively experienced sexually, haven't done anything remotely like this before, but we're open people who like sex. The next night, we made out again at her place, but her dog got upset and we had to get up early, so it ended. Now things are just slightly weird between us. I love this woman and can't let this damage our friendship. All three of us enjoyed this and I'm pretty sure that we'd like it to happen again but not if it's going to mess up our awesome relationships. How can we avoid general awkwardness? Can't tell anyone in real life about it, so looking for in advice in a questionable place...hopefully some of you have experience in successful semi-open relationships.
<bot>: I'm one of the F's in a MFF. How can I help this happen again and keep my friendship healthy?