Sexual assault?

So this happened to me when I was like 14 and have wondered for the past 10 years if it was assault. I was a super shy girl at a school event (sleepover) and my friend wanted to hang with this guy she likes. I reluctantly said yes we can hang for a little, but we ended up sleeping next to him. I said I was tired and turned over to go to bed. Probably about 10 minutes later I feel his hand go up my shorts and into my undies touching my bare crotch. I was too timid to say anything so I pretended like I was asleep. This was before I had my first kiss or anything and it was clear to the guy I had no romantic interest in him. I feel like he knew I was super shy and wouldn’t say anything to stick up for myself and took advantage of that