Embarrassment and anxiety since first senior party

We had a party up the mountain to kick off our senior year. Around 2 am everyone was leaving and I wasn’t in the sleeping mood yet (I planned on sleeping in my car) I decided to keep partying with my friend at his house. He doesn’t drive so my dumbass decided to drive us. I wasn’t wasted (had around 10 beers over 5-6 hours, I have a strong tolerance and this isn’t a ton for me) but I was also obviously in no legal shape to be driving. His house was only like 7 minutes away and I thank god I didn’t trash my car, hit anyone, or get pulled over by a cop and lose my fucking car. I have felt disgusted in myself and haven’t been able to sleep. I never plan on doing it again. People around school have been jokingly calling me out on it but it’s only made me more anxious and depressed.