Had light sexual touches with a coworker. Is this a setback?

At my new work I had my first night-shift, I was trained by a girl roughly my age. I work at a 24 hour nursing service, that means I am in the home of the patient and take care of her needs. During the night that's only the rearrangement of her sleeping position once in 3 hours, the patient has multiple sclerosis.
So I just introduced myself to the girl and was instantly attracted to her, and something told me she found me attractive as well, or maybe I was just a horny piece of shit. We went to the patient, arranged her for the night and then sat down next to each other in the living room to wait for the next rearrangement in 3 hours. She watched a movie, I browsed my phone. There were some light arm touches that were enough to excite me and I was aroused already. And I felt she was open for the touches, so I was anticipating more to come. Damm I was horny already. Then the male nurse from another patient and nursing service sat in the corner of the living room, so we were 3. "Okay", I thought, "Have to be careful now, don't make it too obvious". While the girl and I were both busy with ourselves, there were "random" touches going on between us. She touched my arm or knee with her knee, I asked her something and got close to her. Damm was I horny and wanted more, and I kinda felt she was also thinking about something. So I put my foot under my other thigh in a way I could touch her thigh with my toes in a inconspicuous way. I don't wanna go into to much detail but eventually I caressed her thigh with my foot. She seemed to like it and I went on for half an hour or so, but I couldn't risk more, because we were still at work. But I was already so horny, I stepped back from her. I noticed I was shaking from excitement, I was wet and came a bit, I completely repressed that I was at work. Part of me was like "dude you are at work, and on NoFap, what the f*ck are you doing you idiot? You could get into trouble!", another part was like "This feels soooo good, her thigh feels so nice and I want more". My training was supposed to take roughly hald the shift, so I left earlier. She even came outside with me and we talked for a bit, but I couldn't talk properly. I was somehow disappointed because there wasn't more, and also distant to her because I was only attracted to her physically. She told me about herself but I didn't care, and I hated that I didn't care. But more than that I was ashamed and anxious... Because I couldn't control myself. Even if this wasn't a setback, I disappointed myself, I forgot my faith and committed a sin. Ashamed because I pray 5 times a day and the next time I pray I will be accountable for my actions. It's the shame that makes it hard for me, but this aside...
Does this count as a relapse or something? I mean, I couldn't control my desire and acted on my urge. I could've sit with more distance to her but damm, the feeling when we were close, but not touching yet, was so awesome. As if we were magnets and I was being attracted to her physically. Should I reset my counter? Or should I see this as a beneficial experience? I really have to control these urges, because I do the same when travelling by train sitting next to girls. Their presence arouses me so much I start slightly touching them and when I feel they like it and reciprocate, I go further. Surprisingly most of the times they do, are girls really that horny? But damm maybe I should stop, I feel like a pervert if I continue like this. And I don't want this to become a habit, I think it hinders my reset.

 

How should I Deal with this shame and guilt? And what is it that made me feel and think the way I did? Because it was real intense for me and I don't know what I should be careful now. I notice a lot of my negative thought patterns coming from this shame and I don't know how to overcome this...

 

Yes I realized it was wrong and that I just sabotage myself. I broke the standards I set to myself, and lost control over my ego (nafs).

My goal is to tackle my anxiety and become a better person. Become confident religiously and socially. My faith (imaan) gives me a lot of drive and direction. Thank you for your advice, it means a lot to me and reading your answer felt good. It's nice to meet a fellow muslim in this forum. I can't talk about these kind of topics with the muslims in my social circle, there is too much judgement and misunderstanings.