Do you have to ask before making the first move?

A couple years ago, I had an undefined relationship with one of my friends. We were both bi women, and we had been flirting with each other for a while. I had taken her as my date to the prom, and afterwards me and all of my friends rented a house together for a weekend to party. We all got drunk, tho I was by far the most. I had even taken my top off that night in front of my friends. Anyway, she ended up putting me to bed (we were sharing a bed that night) and while she was I was a giggly mess, which I think she thought was funny. I had very quickly grabbed her face and gave her a peck on the lips. I did that a couple more times while she was trying to put me to bed I think. While she didn’t say stop, I don’t remember her reaction. Since it didn’t go further, I’m worried she did not want it to happen. The next day she flirted with me some more, and I apologized for what I did and she said she wasn’t uncomfortable and I don’t need to worry or apologize. But I don’t know if kissing her without her verbal consent, is that bad? Did I do something wrong?