The largest sex organ is between your ears. So don't over think this. If you treat this as a massive problem you will just psych yourself out which is actually what you are doing right now. You don't need to apologize which would just make this a larger issue. If you treat this like a problem it will continue to be one. Just relax. Roll around and have fun. Just remember that almost all women can't come from penetration alone. Your tongue and fingers will always be better than your dick. Treat her delicate as an egg yolk and have fun. Focus on fun and pleasure and relax
Edit: Nothing wrong with touching yourself when rolling around. That is a normal natural part of all sexual encounters. Don't feel ashamed about it. Its part of the fun
This was evitable with how much money and speed was spent to get these up and running. As they get more widespread they will just poison each other and overfit like crazy. Hopefully it will happen sooner than later