Kissed a woman without consent

This happened back around 2012-13 i was around 12-13 back then and I had just hit puberty. There was a maid who used to work here, and she was laying down when I tried kissing her, she didn't resist me, and I did kiss her cheeks or near neck I guess until I ejaculated or something. I'm 23 now and I feel heavily guilty about this, back in the day I didn't have much knowledge on what sexuality is or what rape or sexual assault is, I was 11-12, I know it's not an excuse but it's the only explanation I have, I'm sorry that it happened and it causing me really bad anxiety. I would've never done that if I had a proper understanding of what's right and wrong and what sexual desire is and how to control or direct it. I'm deeply saddened and hurt by my actions but I needed to vent it out. Kindly provide guidance as to what I should do. I didn't have any knowledge regarding sexual assault let alone rape and I had never any intention of that, it just happened before I could think, or i probably didn't think because I didn't had the maturity to do so. Kindly help me