Seriously???

We went to storytime at the library today. We were supposed to go to playdate at Wibef's house but the Bear was up for about an hour and a half last night with a little bit of a croupy sound so we stayed home because I knew he'd  fall asleep on the way home and naptime would be a no-go. So Squish did pretty well during the story but after it was over and the kids were playing I caught him kind of kicking his friend who was laying down. This is the second week in a row that he has done this so I went over and took his hand and told him to stop and he got so upset...also for the second week in a row. I can tell he is a little embarrassed at being in trouble in front of all the other kids, and I totally understand that but it puts me in such an awkward position as a mom. I can't not punish him just because it's embarrassing, but then I feel bad for fussing at him when he so obviously needs some comfort. So who should I be, especially in front of all the other moms there? Should I be the mom who fusses at her distraught child instead of giving him the comfort that is his most immediate need? Or should I be the mom who lets her child get away with kicking someone because he is so upset at the fact that he's gotten in trouble? Sometimes we are just in a no-win situation. I still don't know what the right answer is.