We talked about it last night at dinner, and it ended up going over well...our parents had gone to the bathroom to "clean up", so we had to talk fairly fast.
However, I made it clear to him that I was fine, that I was having fun. He didn't look at me when I was talking, but I told him that I hope he was having a good time as well. When we finished talking, he did look at me, and he apologized for losing control. I expressed to him that it wasn't awkward for me, and again I told him I enjoyed myself. I think we're better now, because when our parents came back, he actually relaxed and started to talk to me before we left.
I get that he may not be entirely recovered from his "accident", but I'm glad he at least listened to what I had to say about it and understood I meant what I had been saying.