Heartfelt prayers go out to both his family and to you. Be strong for them is all I can say. And if you feel like you have to, there is ABSOLUTELY no shame in feeling the need to get counseling over this. Survivor guilt is not an easy thing to deal with, believe me, i know. Sad to hear that it happened, but I'm glad you are still with us.
Remember, folks, tomorrow is not promised to ANY of us. My wife and i NEVER part ways without saying "I love you" because you never know if it's going to be the last time you see them. If something happened to me, i would want that to be the last thing I ever said to her.