Wondering if I cheated on my boyfriend by letting someone else suck my toes

This is a weird one. I (F21) was hanging out at a friend’s place (M34) , when he started rubbing my feet and giving me a foot massage. We were both kind of tipsy, and I should’ve stopped even that happening, knowing that it was stepping over a boundary. As it goes on, he began to lick and kiss my toes and feet, and it felt very sensual to me. I’d never had someone do this, so in my tipsy-brain, I was curious and intrigued enough to let it continue, wanting to know how it felt. This isn’t something I really see my boyfriend of a year trying with me, and I never felt the need to ask, but I guess it was always a curiosity of mine.

Anyway, now I’m home and have this feeling that I cheated on my boyfriend, feeling like this was a sensual and intimate act that I just engaged in with someone else, and I feel like I need advice.

Help? Was this cheating? Do I need to tell my boyfriend about it?

tl;dr did I cheat on my boyfriend by letting someone suck and kiss my feet and do I need to be honest with him?