I would not worry about it. It was an accident. Sometimes in our minds we can mistake embarrassment for fear. I think you're just embarrassed about the incident, which is normal. Don't worry about it.

On a lighter note (hopefully this will make you smile) The same thing happed to Elaine on the Jerry Seinfeld show episode. Jerry was sure e his new girl friend had implants. Well Elaine was at the gym using the steam room, in walks Jerry's girlfriend. Elaine got up to shake her hand, slipped and fell right on top of Jerry's girlfriend and both hands squeezed her breasts. So see it happens to everyone! :-) Just have the confidence of Elaine and you'll be okay. :-) Here is the clip: