Everybody makes mistakes, especially when they are drunk, it is nothing to feel overly guilty or ashamed about, although I appreciate this probably doesn't stop you feeling those things.
I think you need to think honestly about whether or not this person is going to bring anything positive to your life, or would you just be letting them in out of guilt? If you are only letting them in out of guilt I would strongly advise telling them gently but firmly that you are not interested.
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