Take it easy on yourself 2much
Everyone makes mistakes. Ironically, the more mistakes we get used to making, the easier it becomes to take it lightly, and not be too hard on ourselves. The aim for me is not striving never to do anything 'wrong' (not possible, and anyway that is usually where lots of good learning comes from) but in getting used to the fact that mistakes, half-arsed attempts at something, happen all the time. It's just life, and it helps me learn what I might do differently in a similar situation next time around, and relax a little....
for me, the experience you describe has been an ongoing process of letting go of the wish to be perfect. I never was, and never will be perfect. I very much wish you the same ;-)
Glad you got home safe and sound. Be kind to yourself.