I was charged with grand theft of a motor vehicle, but it was my friends car.?

So what happened was, I along with a few other friends were over at my friends house whom the car belonged to. he was drinking pretty heavy that night i didn't drink though because I had to be up early. The person I went to the house with had left and went to her friends house, about 2:30am my friend, another person, and I went to sleep. i woke up at about 4 went in my friends room and asked if I could take his car and I'd meet up with him later. He said yeah keys are on the counter and went rolled back over and went to sleep. On the way to meet up with another friend whom I had plans to go fishing with pretty early that morning i dozed off at the wheel and ran off the road and did some damage to the vehicle. well after about ten minutes a cop showed up to the scene. i was aout 75 - 100 yards from the car on my cell phone trying to get ahold of my parents, the owner of the car, and my friend I was on my way to meet. I was upset/terrified because i had never been in a accident and I wasn't sure what was going on well i got up and walked twoards the cops and they placed me under arrest. A deputie went to my friends house at 5:30am and went into his house and started banging on his bedroom door to wake him. He informed him that his car was in a accident and my friend said no way its in the drive way, which it wasnt. the cop asked if anybody that was at the house was not there and he said yeah and told him my name. So i was chargeed with grand theft of a motor vehicle. i talked to my friend the next day and he said it didnt register with him till way later that i had asked him. he said he was barely awake and still drunk when the cops showed up to his house and he barely even remembers that. He told me that he doesnt want any charges pressed becuase it was fine for me to take his car. he just wasnt sure what was going on and given the state he was in it was just a huge misunderstanding. so he is going to the state attorneys office to fill out some paper work that says he doesnt want to press charges but with it being in the states hands i have no idea what to expect. given the details i provided and the fact my friend does NOT want any charges pressed because the whole thing is a misunderstanding should this get dropped by the state attorney? i know its their job to prosecute but there really is no crime here. the only thing my friend wants is for me to help pay for the damage from the accident.