Is it normal that i touched my friend's sister two times?

I live in one state and my friend's family moved to a state just south of the border. Basically, his house is an hour and a half away. This happened when I was 13, and during the summer (both times). My friend is about a year and a half older than me and his sister is actually just 5 days older than me. So one night all three of us ended up falling asleep in the living room (me last of coarse), I remember that NickToons was on, it was My Life As A Teenage Robot. I slowly started to poke her and gradually got to grabbing her chest (she was a heavy sleeper!). I tried lifting her shirt or pulling it down, but unconscious her kept it on because I assume the fan was making her cold. I did get to lick one of her pre-matured nipples though. I felt so guilty afterword, but the next time I went over (nearly a year later) I did it again, but this time when I touched her boobs she started to wake up. So, since she was wearing short shorts I headed downstairs. Note: She wasn't the first person I touched (ie boobs and vagina, and that's a long story). Only the second time did I masturbate while touching her. The first time, I held it in. It's been almost a whole year now.