Rubbing ones self against wife and obtaining orgasm

assalaam allaikum,

dear brother I have done someting which i dearly regret. fter the start of fast I had to share bed with my wife and I got aroused and started to touch her private parts and eventually rubbing against her vegina with my penis as well as touching her in other places. s a result I got an orgasm however I did not place the penis inside her vigina - merely rubbed against it whilst I was on top of her. Please help me as to what my situation is?