Is this sexual assault?

I went out on Friday night with one of my friends and we were drinking quite heavily. One of my husbands friends came into the bar we were in and starting chatting to me (bear in mind a month previous to this he attempted to grope me) I brought it up and he said he didn’t remember and he was so sorry about it. Anyway, later that night my friend and I were so drunk we couldn’t barely stand up. We wanted to go get some food so one of this guys friends who wasn’t drinking offered to take us. Me and my friend got in the back of the car and my husbands friend sat next to me, as we started driving his hand went up my thigh and started to touch me and I completely froze and didn’t know what to do, then he grabbed my hand and started to put it on him and forced me to touch him and he had a hard one but I was frozen and didn’t know what to do! This guy is one of my husbands best friends! We eventually got out at the fast food place and I went to the bathroom with my friend and told her what he had done and she said she will sit next to me on the way back but as we were getting back in the car a fight broke out and I went to go see what was going on and when I got back in the car he was sat in the middle of me and my friend and there was nothing I could do. The whole way home he was touching me and grabbing my boobs but talking to his friends as if nothing was happening and no one saw this. They didn’t take us home, they took us to his house and my place is a fair distance from his. We were all sat there and my friend was sat with this other guy who was there and I was sat on the floor, he came next to me and grabbed my face and tried to pull me towards him. I tried to pull my face away but he was too strong, and hurt my jaw and started kissing me even though I didn’t kiss him back. And I moved away from him and he kept saying to me to stay the night with him and no one would find out but I said to him no and kept reminding him that I’m his friends wife and he needed to stop. Eventually my friend and I managed to leave and he texted my husband to see if I got home safe, but by this stage I had already told him what had happened and he denied everything and said I was a liar and nothing even happened.. I don’t know what to do. I don’t know if I should report this because what if no one believes me? My mum already said she’s annoyed af me because I put myself in that situation but I didn’t mean to.

Sorry about the long post, I wanted to make sure I got everything out.

Please could I have some advice on this?