Q: I touched my mom with libido. Now I am deeply sorrowful for the sin. Please guide me.
A: If you had touched with lust and libido then your parents become haraam for each another. Lust would mean that there was direct skin to skin contact or the heat of her body could be felt through the clothing and at that time you had an erection due having lust for your mother.
And Allah Ta’ala (الله تعالى) knows best.
Mufti Ebrahim Salejee (Isipingo Beach)