i’ve been wondering what to do about something that happened in my early childhood and wanted some advice as to if this is sexual abuse or not?

it started when i was 4 years old a family freinds son used to take me to his bedroom and make me touch his penis and tell me to lick it and put it in my mouth, as far as i’m aware he didn’t touch me but i can’t be 100% sure on that as i might’ve been to young to remember, i was 4 and he was 10 years older than me so he was 14 when it started and it carried on for a while after that up untill he was 16 and i was 6, he used to tell me i wasn’t aloud to tell anyone because i would get in serious trouble as what i done was really bad and i was scared so i didn’t tell anyone, i’m 25 now and it’s still affects me after all these years, was i sexually assaulted or does that not count because i was the one who touched him? any advice is welcome thankyou