I let a woman at work touch me inappropriately and didn't tell my wife the full story and now I'm stuck with the guilt forever
Why did you hide this encounter with from your wife?
I've let this woman take advantage of me and it made me feel like a total loser
Seeking forgiveness and forgiving yourself go hand in hand, so talk to your wife and get her insight into the matter. Communication is the key to a successful relationship, and could be the first step to getting over your guilt and shame.
I don't want her to be angry at me. She might be angry for the rest of my life. I don't know what I would do then.
She is not going to be angry if you tell her the truth. It is important for you to be open and honest with your partner.