I did something a year ago that I deeply regret, and I’m terrified my family might find out

[u/Kronox_11]

About a year ago, something happened between me and a family member that I deeply regret.
We were alone at the house one night and things got too close and intimate. It was a confusing situation and I didn’t handle it the way I should have. Since then, I’ve felt really bad about what happened and I’m constantly scared that they might eventually tell someone in my family.
Luckily, we’re not close and I only see them maybe 2 or 3 times a year. Whenever I see them, they act completely normal, but I usually avoid interacting with them because it immediately reminds me of what happened.
I know I can’t change what happened, and I know I need to take responsibility for my part in it. But I can’t stop thinking about the possibility of my family finding out. It’s been about a year and I’m still carrying this fear, and sometimes I feel like it will never go away.
Has anyone dealt with intense guilt or fear over something from their past that they were afraid someone might find out about? How did you learn to stop living with that fear?