was this sexual abuse/was I raped?

When I was young, my parents got divorced. A couple years later, I was about 8/9 and my brother was about 11. Me and him shared a room together and he would put us under a blanket and he would show me his dick. He would tell me to rub it. I didn't know it was bad, so I did it. I had also put my mouth on it and stuff. One time he tried to put it up my butt, but it didn't work. Him and I went to the park one day and we watched porn. I didn't know that was "bad" either. He had seen my parts and I saw his. Was this just boys being curious or something more? Please help. It has been 5 years since. He probably did it for a month or two. I never told. So what was this?? Btw, were just regular brother and sister now.  Also, this didn't really scar me at all I'm just wondering if it was just boys being stupid lol