When I got really horny I would bull down her pants or shorts alongside with her panties and play with her pussy.
This doesn't mean you're a horrible person.
As I ran my hand up to her pussy mound, I could feel the soft downy early-adolescent hair that was now growing on her young pussy.
She was on her back when I fondled her pussy earlier.
If she was close enough to to the edge of the bed I would rub the tip of my dick on her pussy.
I highly suggest that you seek therapy to discuss everything that's happened and help you understand what you did and where to go from here.
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I remember thinking how bad I wanted to fuck her little ass at that time.