Dear Adam,
Taking money from someone without their permission is called steeling and you should mention this next time you go to Confession. A good practice is to go to Confession monthly.
The Seventh Commandment: You shall not steal. Exodus 20:15; Deuteronomy 5:19; Matthew 19:18
On the topic of mortal sin, the Catechism states:
CCC 1857 For a sin to be mortal, three conditions must together be met:
"Mortal sin is sin whose:
- object is grave matter
- which is also committed with full knowledge, and
- deliberate consent." (Reconciliatio et Paenitentia 17 § 12 [Vatican|EWTN])
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If one of these criteria is missing, you have not committed a mortal sin.
The situation you have described would not be considered a grave matter but, again, you should mention it to your Confessor the next time you go to Confession. He can always give you the best counsel.
I hope this helps,
Mike
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