Is it normal to want to sleep with my friend

I'm a lesbian and i'm single at the moment. A year and a half ago I was dating a boy because I was trying to be straight, but that's a different story. The point is a female friend and I had a sleepover and we watched porn, we then masturbated with each other and I got off to her. She's not my type, so it's not those perfect stories you hear about, but at the time I was like "hey naked girl in room, I won't stop this". She was in a relationship as well and for a few days after teased me about me getting off to her and even asked i she could touch me, I said no cuz I didnt want to cheat on my bf, but then she kissed me (I had no clue she was really going to) and it was better than any feeling ever. Now I regret not having a chance to maybe sleep with her, she is still in that relationship but offered a sleepover and now i'm feeling guilty for even wanting to bring it up. Should I just keep my mouth shut?