Advice on sexual harassment

So a while ago, I’m not sure what u call it but I’ll explain what happened because I’m unsure as to what it goes under but I know it’s defiantly an offence of some sort.

Long story short, at my best friends party, got unbelievably drunk to the point I could barely stand and I was in and out of consciousness ALOT.. there was a guy there I was hooking ul with sometimes.. however to me this didn’t mean I wanted anything more. But I still feel it’s my fault to why this happened anyways. Bed time came it was me and my best friend (host of party) and the guy I was hooking up with, everyone else had left so it was just us three. As my best friend slept, I constantly woke up with this guys hands under my clothing on my bare breasts, his hands on my back and front down below, and getting really in on the front. I was so drunk I couldn’t get words out, my speech was very slurred. The best I could do to give him the indication i didn’t want this was to remove his hand or I’d move away from him (at least try because within 5 seconds I was back asleep this is how fucked I was). I’m not sure what this is, a trusted group of friends know and they all have very different opinions, some say sexual assault, some say sexual harassment, others say it’s rape. I just want some opinions on this.

I’m gonna start venting to.. this hapoened like 3 months ago and so far I’ve only had one counselling session and I have yet to tell my parents because it will destroy my social life. For the last month or so I’ve ignored all the negative things that have happened and focussed on other things, I feel since I’ve ignored this, its just come back on me and hit me all again at once. St the moment I feel so clueless on what to do and I lie here wondering what I could have done for myself to prevent this from happening, should I have drink less? Should I have just not hooked up with him?

Please don’t criticise me as I’m already blaming myself for all of this.. I tried the best I could to indicate I didn’t want it. I can remember pulling his hands off me more than 3 times , fuck I feel like I’ve gone on and on 😩 just please I need your opinions