Is this normal experimentation?

I'm certainly later in my teenage years and as much as I had fantasized in early adolescense, I never did anything. That changed not too long ago. Three people were staying over my house. For the purposes of this story we shall call them Tyler, Matt, and Cody. All three of them are very attractive young men and each very different. Tyler, a masculine guy, beard and built. Cody, very classy and sauve. And Matt, the class clown, very funny. I can see myself sleeping with all of them but that won't...hasn't happened. On the night of the sleepover, we figured out who was sleeping where. I ended up next to Matt on the floor and not far from Cody in the recliner and Tyler on the sofa. Fastforwarding...things began to get intmate in the dark. Gentle and very not so racy cuddling with Matt. Eventually he fell asleep as did everyone else. Matt laid there on his back. I unbuttoned and unzipped his shorts being careful not to wake him and then began to rub his penis and feel it harden and that is were I lost all control. Next thing I know I pull down his underwear but he wakes up. I figured I was in massive trouble but thank God he remaned calm and eventually it was mutual. I gave him a blow job, he gave me one, he made out a little. All while two of my hottest friends were sleeping feet away. It never happened again. Is this at all nomal?