Glad to hear your choice. Definately don't beat yourself up over it, even if you weren't to show your kids religion, take them to church etc, they will realize what they believe later on in life.
I came from a family that pretty much never went to church, and really didn't discuss religion too much. My grandma was really big into church, so I went with her once or twice.
For years, I thought there was no such thing as religion, now i'm coming to realize I believe. I don't know what I believe in, but I believe in a higher power.
Anyhow enough of my rambling. What i'm trying to say is, at 21 I realized that i've been missing. You're kids will realize too. You're not a bad parent at all.
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