Is getting a lap dance cheating?

My friend drank a bit too much and his friend wanted to get a lap dance, in the beginning he didn't want to because he was in a relationship but his friend convinced him and he went to get one. But this only happened once and will never happen again. But my friend didn't get hard and the lapdancer was wearing a short dress with underwear under and my friends hands were down and head too was down most of the time the only time he had his hands on her when she grabbed them and put them on her waist. My friend would never do such a thing if he was sober, so is it considered as cheating?