How to save a friendship after hooking up reddit

We're both in college. We've made out and done some heavy touching before, but we'd never gotten fully naked or even seen each other naked. We were both completely ok with this arrangement and were friends for awhile before we acted on our mutual attraction. We've had multiple heart-to-heart conversations where I've told him about how I'm saving myself for marriage (note: I'm not a virgin).

Essentially, I went over there the other night, drunk, to hang out/hook up. He was drunk too. As expected, we ended up in his bed and started having fun. Fast forward a couple hours later - we're both a little bit more sober, but we're both very turned on. We're both naked by now and he's starting to get a more frisky down there. I'll spare you the details, but I'll just say that it lasted about 10 seconds before I sobered up enough to realize exactly wtf was happening and realize that I didn't want it to happen. I said "no" and he stopped immediately.

I reacted as any girl would and rolled up in a ball and started crying quietly. He held me and apologized about a million times. My crying only lasted a minute and he told me to look at him. He looked me in the eye, apologized again, and said "I want you to know that this is not your fault. I'm actually really ashamed of myself for doing this; I know that you didn't want to and I got carried away. I am so, so sorry." He then asked if there was anything he could do to make it better, I said no, asked if I wanted to go home, I said no, and then asked if he could cuddle with me, I said yes. He held me all night.

He apologized again in the morning and asked me if I was ok. Then he drove me home and I haven't heard from him since. This is not unusual; our texting is rather sporadic because we are both busy.

I don't want him to feel like it's all his fault - I had plenty of opportunity to stop him, but let's face it, I'm human. I don't want him to feel like he's ruined our friendship and we can't repair it. And I don't want him to feel like now I'm expecting him to be my boyfriend because this happened.

How do I open up the lines of communication again without seeming needy, awkward, pissed, etc? Pretend nothing happened? Make a joke? Start the text with <awkward>?

TL;DR: Good friend and I had sex for about 10 seconds before I stopped him and freaked out a little bit. He seemed sincere when he apologized, but I haven’t heard from him since then. How do I start a conversation with him while minimizing awkwardness?

EDIT: We've been more than friends for about 3-4 months. And while we haven't seen each other naked per se, we have gotten each other off with hands.