Is it normal to do sexual acts while your sleeping & drunk

Ok so yesterday I went to the beach with a few friends. One of my friends is this girl im pretty close with. We flirt a lot, touch each other and sometimes sleep in the same bed even though she has a boyfriend, lets call her emily. Before we went i pre gamed a couple shots of vodka. So many shots I had to piss in a water bottle on the way there (emily made jokes about it and flirted about seeing my dick and its size when we got home) While at the beach I fell asleep for 2 hours and by time i woke and (and smoked a blunt) everyone was ready to leave. me and another friend of mine were the only two still drunk and now high so when we got back to their house i immediately hopped in emilys bed for a nap. i intended on goin home after but she told me to spend the night she'll give me a ride home in the morning so i said fuck it.
still drunk i went to sleep and she was cuddled up beside me. this is where it gets fuzzy. at some point of time in the night i was having a dream i was with another girl having sex(i havent had sex in almost a month i been horny lately lol) and i woke up with my hands in her pants(she wasnt wearing underwear) while she was still sleep and my middle finger smells like pussy. i took my hands out her pants and turned over and quickly went back to sleep. when she woke up she didnt say anything or act different. at first i thought it didnt really happen but my finger still smelled like pussy. i really like this girl even tho she has a boyfriend and we're close like family so i dont want to ruin that relation ship or have her thinking im a weirdo. what should i do?