5 year old daughter is trying to have sex with brother?

Guys this is not a troll post I'm dead serious and need to know if now is the time to immediately get my daughter in therapy. I have a 5 year old daughter and a 17 year old son. He went on a camping trip with his girlfriend and his sister begged to come along. I said sure because they were going with his Aunt. My son called me at like 1 am and told me that Tapía watched him and his girlfriend have sex. I asked him what the hell does he mean by "watched" and he told me that she had peaked into their tent and saw her on top of him & his eyes were closed. When he opened them he noticed her there and started freaking out. Then after they were dressed he asked her how long she had been there and she shrugged at him. They are back home now but this morning my son went and got his sister dressed for school for me while I was cooking. Then he went and laid back down because he had a cold and I just heard him yelling Tapía NO dont do that! And moments later he was carrying her to the living room. Before he retreated I whispered why were you yelling at her and he pulled me aside and told me she climbed on top of him and started moving her hips like she saw his girlfriend doing. So I freaked out at that obviously and when he went back to sleep I sat down with my daughter and explained what she did isnt okay but it was going through one ear and out the other. Guys I'm worried.

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