No...

You asked and she said yes.

It all comes down to respecting someone's wishes.

Tallpotato, get some therapy if your insurance covers it. Obsessing about something you did a year ago is not healthy.

You were fine. The gal you helped probably doesn’t remember you.

Next time offer elbow.

I think you acted fine, just ask if she would like an elbow instead of your hand

Assuming you told the whole story, you're good. Thank you for asking before helping her.