Stupid But Want to Repair Damage

I have been suffering from anxiety and ocd for many months. Just before christmas I stupidly got very drunk, and the combination on anxiety and drunkeness led me to cheat on my girlfriend - it was only a pull/snog/whatever u want to call it, and my touching her 'down there' but stoping straight away after realising what was goin on I did not finger her though.

Firstly, because of my anxiety, I though the worst of everything - even thought that I has gotten this girl pregnant as I had masturbated before I went out that evening. I have told my girlfriend about this situation and that I had pulled this girl, and she understands and knows it was out of my character and that I have been going through anxiety at the moment.

To help combat my anxiety, we have agreed to go on a break to help focus my mind on what I need to do rather than her. However, I cant easily forgive msyelf for what I have done and I am struggling with guilt and unhapiness for ever hurting the girl I love.

How do u see our relationship from here? I am worried about not ever getting her back properly as I have forever damaged our relationship. I am also worried that I will never be able to look at her without thinking of what I did.

But can this be overcome - this regret, this guilt and this unforgiveness by myself and her for what happened? Is it advisable to take a counselling session with her?

Im very upset and afraid of what might happen, so any advice is much appreciated.

Thnkyou