Sexual Harassment?

This may be a stupid question but when I was younger I went to Florida on a family trip and my cousins went with us. I was only about 9 years old and my cousin was about 13 years old All throughout the trip he would make me turn around facing forward in front of him and he would pull me in continuously with my his private on my butt but we always had clothes on ( like humping). Is this considered violating me? Btw I was extremely young at the time probably in third grade and I didn't know what was happening. I am scared to say anything because I feel embarrassed and that people won't believe me since it happened so long ago and he never took my clothes off. I'm 14 now and I'm in 8th grade going to 9th. I see this cousin very frequently because his mother is my father's sister and we share the same grandparents so I'm confused on what to do. I may just keep it a secret for the rest of my life because it’s embarrassing since I have no proof. I feel so uncomfortable to tell anyone because my cousin is part of my close family, and I don’t know how anyone would react or if I would mess up the way my family looks at me. I don’t know how to tell anyone what happened. I keep wondering if anyone would even believe me.