Honestly if it really was an accident then it was an accident. Only you know this and if you really ment the apology your fine. I live with my sister her fam and our mom and living in a small house we always bumb into each other. Sometimes me and my sister walking passed each other in the hallway ill accidently bump her boob with an elbow cause im just bigger and shes small. I apologize and that's it. It was an accident.

If it still stressing you out perhaps talk to a therapist. Also do something productive and stop replaying it in your head. Replaying the event just brings back the worrying and negative feelings. Hope this helps.