I touched my friend's breast while she was sleeping

When I was about 18, I had a friend which I was so horny over, but she only wanted me as a friend. She came to me once, and fell asleep next to me. I watched her and got very horny, then I touched her shoulder to see if she'll wake up from it. she didn't, so I just laid my hand on her breast, and it was like a dream come true. I longed to touch her breast so many times.. Do I deserve forgiveness?