My best friend (since I was 8 and he just turned 11) had sex on more than one occasion during our teen years but nobody ever knew... Fast forward 20+ years, we did it again and we definitely would do it again. Nobody knows... Everyone looks at us as just best friends and we really are, but we are also soulmates... Our kids and jobs are keeping us 600 miles apart. :'(
You are young. You will do many things that you don't understand. You body is coursing with hormones and almost has a will of it's own.
Be glad it was a friend.
And awkward is the norm for teenagers. Talk it out. Bring it out and talk about it to them.