I have friend who I always had a crush on, one time we went out. After a long time, because my wife now wasn’t sure how to feel about us. She eventually got over it and so we had a night out with friends and we ended up at her place. We were waiting on more friends to show up so it was innocent at the time. As time went on our friends never showed up and so it was just her and me. We kept drinking and there was no ill will in sight. As we waited she and I became very intoxicated. She ended up falling a sleep on my shoulder, which was cute. She was wearing a dress and it revealed a lot and I wish I could say I was better man but, as she was a sleep I felt her up. I cupped her breasts and even bit on them. I even got to the point where I took her panties off and tasted her. I brought her to her room and put her on her bed and at the point she started saying no no. I came back to reality and realized what was happening and let her be. I ended up staying on her couch for the night. The next morning she walked out of her room. Surprised that I was on the couch. Nothing was said, she walked to bathroom with no panties on, whether she remembers what happened or not I know she knows she woke up with no panties and me in the other room. Nothing has ever been said about that night, sometimes I wish it never happened and others I wish I just fucked her.