involuntarily movement and intrusive thoughts

I struggle so bad with intrusive thoughts. They can be so bad that I'll cry because I KNOW that's not how I feel or want to do. (Too embarrassed to say what they're about) I'll constantly try to figure out why I have them, and constantly figure out what they mean, causing me to constantly circle around and around. I had to get on anxeity meds, which helped a little but the thoughts still happen. How do you help yourself with this? How do you know that you're just not some physcopath? 😅

I was sitting down and my child wanted me tl hug her. She extended her arms. I leaned in and hugged her but my pocd freaks out says “dont brush up lr do anything inappropriate. Dont thrust my hips”. I leaned in and hugged her. I had these intrusive thoughts and worries. I hugged her still and i think i did compulsions to avoid these pocd and intrusive thoughts. I moved on and now im habing doubts and false memories on the details. I know as i hugged her i worried about brushing up or hips thrusting and i was anxious and uncomfortable. I known its ocd. I still hugged my child. Despite ocd discomfort. I thought i felt my body react like a hip thrust twitch or maybe its just in my head. I dont want to hip thrust. Thats why my mind was freaking out worrying about it when she asked for anhug. My therapist said my ocd and anxiety and these intrusive thiughts can cause my body to involuntarily react and do those things my ocd is obssessing over like hip thrusting or twitches or groinals down there.

I have the thought of what if I lose control and do something out of my control like scream for no reason or yelling in a store or just blurting stuff out that’s not in my control and it causes so much anxiety and causes me to feel weird. I always think I’m on the edge of losing control of myself and it’s exhausting living like this. Any tips?