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It sounds like you guys had a few drinks, got a little too friends and voila! A kiss took place which I'm sure was harmless hence you not even recalling it until someone brought it up. So you didn't remember and the guy didn't say anything either.
Things happen. I'm a little more on the forgiving side if a bunch of friends are together, everyone is drinking and some people get a little friendly... it happens. It's harmless and everyone will laugh about it the next day with no harm done.