I wouldn't worry. Obviously the pandemic is dreadful, but sometimes other things trump it, purely in the interests of compassion and kindness.
Boris's latest buzzword is "Be Alert" - you were alert, but alert to your friend's needs, rather than this blessed virus - temporarily that's all.
It's done and I'd have done the same - maybe washing hands etc before and after of course, but I'd still have done it and I think others would too.
Why Are Blokes Obsessed With Noisy Gadgets??