I stole beer from my neighbor?

I stole a beer from my neighbor a couple nights ago, and I feel really guilty. I stole the beer from the refrigerator in the garage, and later, the neighbor came outside and said hey man what's up. I engaged a conversation with him about his new car. He started talking abut it. Never mentioned a word about the beer, and seemed to be as happy as a lark. But I feel really guilty. Today I am going to go back and return the stolen good, and maybe I will give him something extra, just so if he did see me , he will understand that I am sorry. I CANNOT CONFESS because I am well respected around this part of town, and people would get very upset. Please help me out. The guilt is eating me alive