Sexual assault

My little sisters dad sexually assaulted me throughout my young years (8-15) I never realized i was getting sexually harassed because i never had a dad and thought he was acting like a dad. For example, he would smack my butt and try to kiss me near my lips.

He was a drunk so whenever he tried to touch me he blamed it on a beer he had drank. That day he asked me if i could drive him to the store and he put my little sister in the back of the seat. He told me to park in some apartments and to wait till he finished his beer. I agreed and felt uneasy but never thought something would happen. He started telling me how when i was little (8) i touched his penis. And when he said that I remembered how he would sit on the living room with boxers with his feet wide open and let his junk out for me to see. I don't remember ever touching him. I lost my virginity when i was 13 and when i was 15 i took a picture with my friend doing a kissy face. We didn't kiss. He started trying to touch me and telling me how I shouldn't be lesbian and that i need a man to show me how to have good sex that maybe thats why i was a lesbian. Which I'm not. I kept pushing him off of me while my poor little sister was in the back seat. I started to cry and telling him to stop trying to touch me or else i would scream and he locked the doors and told me to stop and just let it happen. I kept crying and telling him to stop but he kept trying to pull my leggings down and trying to touch me down there and my breasts. i was in danger and started panicking. When he saw how i was he started crying and telling me that he was drunk to forgive him and to not tell anyone. He made me promise him to not tell anyone and wanted to hug me but i felt so disgusted and just kept telling him to take me home or open the door for me to get out. He made it about him and till this day it hurts me and scares me that maybe he'll do that to my sister. I'm 20 and still have anxiety of it. At 15 yrs old I finally told my mom while in an altercation with him and he denied it and at the end told on himself bcus he said "i only did it bcus I thought you where lesbian" my mom kicked him out but never pressed charges. My question is, he never raped me but he did give me years of depression due to the sexual assault he did to me. Can I still press charges on him to put him on a sex offenders radar? It's been years but i do want him to have some type of punishment for what he did to me throughout the years.