a slip up at the coffee shop

so this weekend me and my gf went to our favorite cafe and we were sitting in one of those small booths and i just had a few drinks but it wasnt enough to be drunk you know and we started talking about all these weird stuff like kinks and fantasies and she mentioned role play and getting tied up and i just lost control and i pulled her towards me and kissed her really hard and then it got intense and before we knew it i had my hands under her dress and was kinda gripping her thighs super tight and the look on her face when she noticed people staring was like total panic but still kind of turned on which is messed up to think about now. i pulled myself back and apologized but she said it was just a moment thing but honestly its been haunting me for days because what if shes angry or thinks im some kind of psycho? we dont talk about anything other than law school stuff most days so all this sexy stuff feels out of place