I touched my brother's body while he was asleep and I regret it all
Are things different after you touched his body?
Yes, I'm starting to distance myself from him
You shouldn't have touched your brother but there is nothing you can do now. You should move on and not think about it.
He knows that I touched him and took his underwear, he is really angry at me for the incident.
I can see why he would be upset. I think you should apologize and they try to seek professional help. There is a reason you did this and I think some therapy could really help prevent things like this in the future.