What does an overly intimate hug with groping mean when an affair is over & why risk it?

We had agreed to end our physical relationship & have not seen each other for 1 year. We are each married & we have apologized & admitted our mistake to each other . No one else knows about the affair. We ran into each other last week & as we said good bye he hugged & groped me so intimately I pulled away. Why would he risk being seen & why did he do that? Is there no chance for us to even be friends?