Masturbating with a friend, cheating or not?

Met a friend I've known for years at a school reunion, we always had a crush on each other but never had a sexual hookup (long story). She's married now and I'm single but we still have a sexual attraction towards each other. She text me the next day and asked if we could met and talk again, her husband was on a business trip. We talked and had a few drinks, she told me she wished we could have sex together but she was married and didn't want to cheat on her husband but did have an idea to fulfill our sexual fantasy. We went to the bedroom and both got undressed then sat on the bed facing each other where she began masturbating for me. She said that was all she could offer but hoped it would satisfy our sexual thoughts we had for each other after all these years. There would be no sexual touching or any kind of penetration, just a little fun between friends masturbating together. After we were done we both agreed it was such a wonderful sexual experience together, it wasn't the sex we always wanted and fantasized about but it was the most exotic and sexual time we both ever had, our fantasy of having sex together was "completely" fulfilled. It's will always be are own little secret we both longed for after so many years.
She said she has no regret's about masturbating together because there was no touching or penetration between us so she doesn't consider it as cheating on her husband. Being naked together having a little sexual fun with a long time good friend masturbating together, would you consider this cheating on a spouse?