Childhood confession

So when I was younger maybe 2nd grade, a friend of mine had a mom who would leave us completely alone for hours to play and we would often play truth or dare. I was a very shy and easily influence child and one day my friend asked me to get naked and touch her etc. I was too afraid to say no and this happened many times, even escalating to oral sex etc. years later I have never stopped thinking about it and sometimes feel like I have been abused in some way, but I do not throw that word around lightly and do not want to offend. I'm just so confused about what happened then and wish I didn't still feel guilt about it.