when i was young like 11 years old i touched penises with my friend?

hi im 22 now and it has caused me lots of psychological problems growing up i never told anyone about this,i was young and we were experimenting with masturbation,we would put on condoms and masturbate with them on,,ect,.then one day my friend(we both young not knowing anything) told me about him seeing stephen and another boy having sex,in the bush(theres a place down the road from us thats like a swamp its actualy a small farm and has high bushes and long plants that grows theres things at the end of it)
anyways we would go into this long grasses and tramp it out as to form the shape of a house,so my friend me and him both 11 told me he was walking in there and saw another tow people also young having sex in it,we both said thats gross would never do t
then we started talking about pornos and decided to go masturbate in that long grasses big mistake!
we both got super real horny and decided to touch out penises emediatly pre-*** came out and we both got scared pull put our pants and ran home,for taht next year i felt like my life had ended i never told anyone,i began to grow hair on my pubic area and noticed some fine pimples on my penis i thought i had got some disease or it had messed me up for life,it was like the world ended for me at the time,i got hard knots in my nipples and they were in pain i didnt even know that was from pubity so it realy messed me up im not gay as i have never ever had or grown feeligns for any guy yet when