It sounds like with lowered inhibitions due to drinking, you both allowed yourselves to have some non-sexual intimate contact with another human being. Its only as weird as you two make it. Its okay to have physical contact sometimes with someone, without the need to have sex with them.

I'm not sure, but it sounds like you were both clothed all night so thats a pretty good indicator that there wasn't an overt sexual attempt on either part, since that's not what you guys currently, if ever want. Its also okay that you took care to make sure he was okay after being so drunk, he is your friend after all.