Guilty

TW: !!Sensitive topics!!

I just wanted someone who has learned to overcome OCD to talk to. I have been feeling really guilty because I remember that in puberty I would *** in my bed while my sister was sleeping, or was in her bed, which was the top bunk. I also did it while she and my mother were in the room, and I tried to do it without them noticing, in addition to having done it in beds that were not mine... I feel like a pervert, especially because I was told that *** with another person in the room that is unaware, is rape. I talked to a psychologist and he says that teenagers tend to *** in the strangest places and that I was too young to understand the consequences of my actions. But I feel like a monster!!