Was I molested? Or what is this?

So when I was younger like maybe 10. I would stay the night at my cousins house and she has two older brothers. I had fallen asleep on the floor because we were watching a movie and she fell asleep on the couch. I woke up in the middle of the night to her oldest brother laying behind me and was making me touch him. He was holding my hand on his penis. He was kind of saying stuff in my ear but I don’t exactly remember. I honestly didn’t remember that this happened to me until I recently saw him in person and I immediately had the worst anxiety I’ve ever had in my life and then just somehow this popped into my head that it happened and I remembered. He is also a registered sex offender in our hometown because he has done this to several other of my cousins friends as well.