Molested 16 years ago. Should I tell my parents?

For many years, I've always had this memory of being at my grandparents house and being in a hallway alone with my grandfather. He was tickling me and we were laughing. I was about 4-5 years old. Then he started to get closer to my private area and feel it. He put his hand in there and said "do you like this?". I froze and I knew it was wrong immediately. He molested me. I can't remember anything after that. I don't know if I just walked away casually or who else was at the house. Nothing. And I've always thought this memory was something I imagined or misunderstood somehow. Until yesterday. My cousin was telling me how it was just brought out that my grandpa molested 2 of my cousins. When she told me that, I knew that my memory was real. I was molested as well. My grandpa died 4 months ago and I don't know if I should tell my parents what happened. This is how I feel about it: it happened one time (from what I remember) 16 years ago. My grandpa is now dead and telling my parents would do no good. There's nothing they can do about it. It would only change their view of my grandpa. They loved him and I don't want to ruin that. What should I do? Should I tell them what happened?