i just kinda need help

When I was young like 5 or 6. My cousins who where like 6 or 7 told me to do some sexual acts.At first i didnt want to do it and told them no. But they kept pushing and talked me in to it. They told me that my parents would stop drinking and smoking if I did thiswith them.And so i did. After awhile it didnt sit right with me again. So I told my parents and well nothing really happened.They did stoped but i think it was because now im a tattle tale. They never got into trouble or even got help i think. I tried to protect my younger brother but i think they did the same thing to him. Im 20 now and I still have terrible thoughts. Ive had countless guys start to get romantic with me but i would most often burst into tears. I have a boyfriend now and he know all of this. He has helped me so much. My questions are would this be rape? Does this happen to other people? How do iget over this? I do understand that the were also little and that something must have been going on to make them do this. I still feel angry towards them though. what do i do? Can i do anything?