Is it normal to touch your cousin

ok so i went to my cousin for a sleepover and then we started playing truth or dare and the dare was for me to kiss her and i did but i didnt feel anything cause she is my cousin and we were not doing it for any pleasure and then we started playing then she touched my vagina and i started laughin and then i touched hers and then she started touching mines again then i told her to stop cause the game had gone too far. i dont really feel guuilty cause i am not attracted to her or girls we were jus playing but it kind of went tooo far is this normal