i touched someones shoulder in the play room i shouldnt have. how do you fix that on the spot

still cringing 6 days later, posting bc maybe writing it out helps and also so somebody newer than me can avoid it. so were in the playroom at this club we go to, theres a sort of communal area w like a big shared mattress and several smaller stations. couple next to us was clearly mid-something w another couple and i was... idk, caught up, energy of the room, half drunk, very aware they were attractive. and i put my hand on her shoulder. JUST her shoulder. as like a "hey, you mind if we" type thing without saying words. she froze. like fully froze for half a sec, looked at me, and her partner clocked it instantly. nothing escalated, she said "sorry no" very calmly, i said "totally my bad", but the energy in the corner of the room died for like the next 20 min and we left the playroom feeling like trash. me f34 he 35, been in the scene 14 months, this club has a "ask first w words always" rule that is posted on the freaking wall and that i KNOW and that i broke bc i let the room get to my head. the next morning i wanted to dm her and apologize properly but my partner said dont, just let it be, ull make it worse. but it feels unfinished. and i dont want to be the person they tell their friends abt as "watch out for that brunette who grabs ppl". so my actual question — how do you recover from a moment like this. on the night, and after. is the dm a good idea or no. and how do you walk back into that same club next month