What's "The Bachelorette" without some drama and regrets? On Monday's episode of the show, Kaitlyn Bristowe kindly invited contestant Nick Viall back to her room after their first one-on-one date while the group were in Dublin.

And the two engaged in sexual activities.

Although the cameras weren't allowed inside, the 29-year-old Bachelorette could be heard moaning. The following morning she admitted, "Waking up in the morning, I'm definitely feeling guilt. I don't necessarily feel guilty about the act. It's more just guilt from caring about other relationships that I have. I've never dated this many guys and had to feel this guilt. And now I do." 

Despite her actions, Bristowe told People that she does not feel guilty about sleeping with the 34-year-old software sales executive

"That's something I don't think I should be ashamed of," Bristowe siad. "I know so many people can relate, but it's so easy for them to judge at the same time...It's easier to judge than to relate to my situation!"

As to why she broke down crying, Bristowe responded, "I was thinking, 'What if I just ruined another relationship that meant something to me?' So that's where I got upset, and that's what made me cry and break my heart - thinking about if I just ruined another relationship because it was hard to juggle all those relationships and know exactly what was right and what was wrong."

Following the episode, Viall showed his support for Bristowe in several tweets, writing, "Kaitlyn showed a lot of courage by admitting 2 having sex on national TV knowing that she will be unfairly judged by some. #TheBachelorette."

"Sex is not shameful. Whether we admit it or not, sex is important part of many serious and meaningful relationships," he continued. "Both men and women have an equal right to have sex without judgment #TheBachelorette #bachelorette."

During the rose ceremony, Bristowe sent home Joshua, Justin and an overly confident Ian. Joshua seemed understanding of Bristowe's decision saying, "I tried. She knows what she wants, and it's not me she's interested in." Meanwhile, Ian campaigned to be the new "Bachelor."

"I really think the right decision was made," he said. "Kaitlyn's shallow. I just don't think she's nearly as complex as I am. I'm too deep a thinker, I'm too self-aware. I'm very different than every single other person that's here. I went to Princeton, Deerfield, and that's what I have to offer. I'm an interesting guy, a guy that's had a lot of different experiences. I'm not lame, like the others guys. I'm way glad to be out of there."