Is it normal to want to do anything to please another?

As a child and young woman I was raised in a strict environment. I always felt it was beneficial to please eveyone as much as I could.

After 15 years of marriage to a loving, wonderful man ("Don") our sex life was diminishing. He started suggesting things to spark us up. We tried some toys and positions and it helped some. He then broached the idea of bringing in another man to see my reaction. At first I was appalled and withdrew but he kept with it and I agreed because I wanted to please him.

The other man was a co-worker of his. A large and well built black fella that I had met. He was always very nice. We all met up in a bar and went to a motel. I was extremely nervous but between the two of them, and some Tequila, I was calmed down. The evening did turn out to be successful as my husband thoroughly enjoyed watching me with "Kevin" and was masturbating. When Kevin came in me Don also came. Don then wanted to watch Kevin's cum drain out and seemed extremely pleased and satisfied. Although I did have a nice orgasm I was later disgusted with myself and couldn't believe what I had done to please someone else.