I'm confused and I screwed up with my best friend. What should I do?

Friday I was play wrestling in my bedroom floor with my best friend Jasen. Halfway through us playing he lightly pecked me on the lips and one thing led to another. When i woke up the next morning he was sitting at the foot of my bed with his head laying on his knees. I nudged him with my foot and he turned and smiled at me, and reached out for a hug. He left after wards and I haven't heard from him since Saturday morning. He texted me after he left Saturday and it said "I understand if you regret last night but I don't, I'm sorry" I want to call him and apologize as well but, I feel like I would be apologizing for nothing because I don't regret Friday night at all. I actually cared for him before we slept together. We are both also at the age that we were very well aware of what we were doing, so i know in a way it was wrong because he is my best friend but in a way it feels right. How should I confront him or what should I do?