Feel guilty.. is it okay to splurge once in a while?

basically i eat healthily when im at homein my normal environment but im on vacation and tonight i had a big brownie sundae at baskin robbins.. i just feel soo guilty about it.l is it normal to splurge like this? can anyone make me feel better about this please? i was just craving a big sundae cuz i hadnt had any sweets in SO long