I was involved in a similar situation many years ago. I was with a couple friends, one of whom was gay, hanging out at our regular bar on a slow night. A couple of young guys on leave from Desert Storm came in, and at some point in the evening things got uncomfortable. Blah, blah, blah, gay friend left, two punks followed him, and I followed them. That night everybody made it home unscathed, but when I went back in, the bartender told me she had 911 ready on speed dial.
It sounds like a lot of your conflict/guilt is in dealing with your emotions immediately following the incident. Remember that when you are either an active or observing participant in an intense situation, shall we say, that there is a lot of adrenaline released into your system. "Win or lose" , your body has to channel that extra energy and classify it. I remember one other thing about that long ago night - the bartender hooked me up for the rest of the evening and I still went home cold sober. You're just human in your reactions. Welcome to our race. 
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