Why should anyone feel guilt about a biological urge? Because it was ingrained in society from times past. Especially in the Victorian era, when they were as uptight about sex as the Taliban is now. They had a lot of stupid ideas, like it woud cause insanity or blindness.

People have come up with a lot of stupid ideas proven wrong, such as slavery and segregation, smoking as a healthy thing, etc.

Just drop the guilt, and work on your other problems. Sexuality is normal and healthy.