It may be a little of both. It could be that you've had these kinds of feelings toward each other for so long that when it finally happened it was like, "Um, I don't really know how to act here." It could just be that it was a different kind of intimacy than you're used to, or it might've been as you said, you could've just been scared shitless because you actually posess those strong feelings towards one another and the culmination of the physically just petrified you both. I would say that it may be better in future occurences but being that you said you're both married (I'm assuming to other people
) that won't be happening much if at all.