I made a bad mistake and need some advice on it?

i'll cut to the point of this, i went to a party and got drunk, my mate (who's also a guy) went and sleeped on a mattress with my best friend (whos a chick) they didn't have sex just played, then she got out to go somewhere and i didn't have any where to sleep so i jumped in next to my mate, he, thinking i was her grabbed my leg and i told him it was me, not her, but he was drunk and ended up grabbing my chest, i shoved him off again and lay down, then he lay really close and put his hand on my hip, i couldn't be bothered shifting it so i left it there, then she came back after awhile and laughed at me then we got him cuddling up to her again...later that night i kind of woke up but i didn't really have any control, i was kind of still dreaming, anyway i was rubbing his thigh really hard and kissing his shoulder, then my hand went over his crouch a couple times, after five minutes i realized what i was doing and stopped straight away, later i woke up for a sec and we were lying on our backs and i put my arm out, and then his arm went out and tryed to hold my hand but i rolled over (we were both really drunk, him more then me) then later i woke up and i had my arm over him, so i moved it and he rolled over...in the morning i completely forgot what had happened until i saw him walking around in his shorts, it's been two days and i feel like ****, not going to school tomorrow because of it, i feel bad, im straight, but have this urge to tell him but i don't want him to hate me, i think he might know because he acts a bit weird sometimes to me now...hmmm i don't know..