Sexual assault

I might have sexually assaulted at least 2 kids when I was a kid. I didn't know better. One was my cousin. He was younger than me and I found him annoying because he would not leave me alone. He was really young (maybe 2 years old??) and he didn't have clothes on. I squeezed his penis which probably caused him a lot of pain and he started crying. I just wanted him to leave me alone. I really didn't know better at that age. I was probably 8 years old. Another time, I think I asked a girl to show me inside her pants and I think I tried touching her. I really don't remember it well, but I think I've done that. I think I was probably curious but what I did was so wrong. I feel really embarassed and guilty now. I feel so ashamed of myself. I don't know if my cousin or that girl remember the incident. I want to apologize to them. I don't know if I should or shouldn't. I don't know what to do. I constantly think about this.