How to get him to talk to me?

I have a guy friend. Best friend. We date other people. Not serious relationships though. He holds my hand and puts his arm around me and stuff. We haven't kissed. I kid around and act disinterested but still kinda all over him, like he is with me. Now he isn't talking to me because his mom walked in on me asleep on the floor next to him and i think she thinks something went on, so it's awkward between us. What do i do?