I (15M) just had semi intercourse and am feeling very empty and guilty

The title pretty much sums it up. The girl (16F) and I are pretty good friends and just wanted to play around with the concept. There was no penetration involved, more just hand stuff and kissing. In the heat of the moment it felt great but now I just feel very empty. Almost a sense of guilt. I know what I did was not correct and I almost feel like this emptiness and guilt will last forever.

If anyone has any advice that’d be great thank you.