Is this considered assault?

I'm 16. When I was about 10 or 11 I was hanging out with my cousins and their friends. His one friend was between 15-17 at the time, not sure exactly. But he kept picking me up and bringing me to another room when then he'd pin me up against the wall with his body against mine. I called for my cousin and he'd bring me back to the room where everyone else was. This happened repeatedly as we were hanging out. I'm just curious what it counts as. I didn't know what rape or anything similar was at that age. But now that I'm 16 I realized something was wrong about that. He didn't take off my clothes or anything but he'd try and kiss me and made sure our "parts" were touching. It was scary for me and made me very uncomfortable. I asked him to stop many times but the situation just happened repeatedly, he'd bring me to another room, then my cousin would come and get me over and over again. I really did want to say something to someone I trusted that day but I just couldn't speak at all....