The only action which is by law prohibited here in qatar is having sex in public but to kiss ur wife or any beloved one an occasional quick kiss is never prohibited, ok some people are sometimes over reacting but if something like that happened in the future just get the plates number of this guy's car and report him to police telling them that he scared your family by his actions which accordingly gave you an unsecure feeling of living here in qatar with ur family ... Trust me they will respect this and they will take action.