so your conscience informs you if something is wrong. if your conscience does not inform you something is wrong then for you, at that time, it is not wrong.
your decision at that time was based on your current level of understanding of right and wrong. as you have grown and understand more, your morals and values have changed. now, something that you done in the past without understanding has a different meaning and you have a different understanding of what is right and wrong.
you cannot change what happened and you may not be able to forget it but it was a learning curve.
a process of understanding right from wrong, emotions of guilt and embarressment are indicators of incorrect action (or thinking) and motivators of correct action (or thinking).
your experience educates you as you learn to live in harmony with your environment. understand what you have learned from this experience. you may even come to value it as a great education.