is this sexual assult

a friend of mine had come over to my house and my parents were outside. we were both sitting in 2 rlly chairs and she pulled me closer to her and put one of my legs on her lap. we were friends so I thought this was normal. she then started to touch My vagina and started to grab my boobs I told her to stop and tried to push myself in the rolly chair away but she pulled me back and kept grabbing my boobs. I ended up going outside and sticking Close to my parents. I haven't talked to her since, it's been 3 years. was this sexual assult? this event really messed me up and I've been struggling to get by it since. is it OK for me to feel this way because I know other people have been through much worse