Ok...ewww this was NOT supposed to happen.?

so my cat trusts me a lot now so when i pet her tummy she purrs whhat not, earlier i was petting her on her stomach but i wasn't looking and i went down a bit too low to where her private part was, oviously she has fur their so i didn't notice, she started shaking and purred the same and bringing her legs in. i noticed this, pulled my hand away the fastest i could. and washed my hand with a bunch of soap and thought 'did i just go to 3rd base with a cat?!' i know i didn't mean it but can cats have pleasure?