Something that happened in my past is troubling me 25F

I'm 25F now. When I was 10-11yr old this thing happened.

Myself(F) and three of my friends two M and one F(one M is the same age as me and the other two are 1yr older than me). We used to secretly see and touch each other's private parts down there for less than 10 seconds and that's it. Also, I remember that I kind of enjoyed it because there was some thrill in it. We did nothing more than that. One time our parents caught us doing it and didn't scold us or anything they just advised us not to repeat this. We agreed and didn't do anything after that. Also, I don't remember who initiated these things and we four are not in contact now.

But this memory rarely pops up in my mind and I feel embarrassed, ashamed and disgusted now. I'm single now and also confused about whether to share this with my future bf or husband and I'm scared about their reactions. If anyone has a similar kind of situation, can you please share?