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I think I gave my guy friend a boner on accident!!!

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I have this guy friend, but we are really just friends. Well one day during school I was sitting there and he was sitting across from me at the table in Spanish and I lifted my feet to put them on his legs, to use him as a foot rest. I accidently had my foot on his penis, and I didn't know it. All of a sudden a felt twitches from his pants, and I asked him what it was, and he moved my leg and looked away in shame, I wasn't sure what had just happened so I guessed, after class I asked where my foot really was and he told me on his penis. I never asked what the twitches were, but whatever it was, I knew it made him uncomfortable so after he stopped talking to me I wasn't really in shock. I asked my older brother and he said that he was probably horny, but I don't care, I just want my friend back :( What should I say or do to make him feel better? please help