Sexual Assault experience TW

About 2 years ago I was sexually assaulted. I was supposed to feel safe, with my guy friend. Instead, his older brother took all the parts of me nobody had ever seen. I was so scared. I tried to stop him. He wouldn't take his hands off me. I was wearing shorts and when his hands found their way under them all I did was cry silently. Is this rape? I told my friend what happened shortly after and he told me to get over it, and that his brother was just having sone fun. I am terrified that it will happen again. Every man I see gives me fear and I refuse to walk alone after 6pm. I don't know how to move on and I'm too afraid to get therapy because I'd have to tell my family. Any suggestions?