Not sure what to do

Went out Friday with a group of friends, and invited a mutual work friend along (same company, different accounts). Didn't think he'd show up despite the fact we share a dark world view/humor, and he's oddly attractive to me - can tell it goes both ways (people are fickle, though, so...).

Got really drunk, and ended up back at his place where things got heavy. I shut it down because 1) I was really hammered, and 2) I haven't been with anyone in years, and my confidence is in the toilet. I was a bit of an asshole, too, or I think I was anyway. I basically got irritated, and took off. I apologized for that part, but didn't bring up anything else.

My problem is I'm kicking myself now because I had a chance to get out of this rut, and ruined it. Maybe not, but if I hadn't been so drunk, I probably would have let it happen. I would like to in the future. I'm just not sure how to approach it without coming off weird. If any of you have experienced something similar, or have any advice, I could use it.

(For the record, I'm not concerned we work in the same company. It's a non-issue as we see each other infrequently, and policy regarding fraternization only refers to superior/subordinate roles which don't apply here. )

Made this as short as possible, so if you have questions, I'm happy to answer them.