Feeling Guilty

I am a married man with a daughter, some mornings at weekend she gets in bed with us even though she is not a child, she is a dads girl and always gets in on my side, when she slides down her nightie rides up past her waist so her bare bottom is in my lap, I know I shouldn't have looked, on the last morning, we fell asleep when I awoke I had a full erection sticking out of my pyjamas with my dick and balls against her bare back I didn't know what to do, I admit I was enjoying the feeling of it, I wasn't sure if she was awake, I left it there for a while feeling guilty, eventually I turned over, next day I told my wife waiting for her to call me filthy names but she didn't she said I had done it to her in my sleep many times humping her and occasionally I had penetrated her vagina, I said what if I had done it to our daughter could it have happened, she said I don't know it wouldn't have been your fault, could it have happened,