I agree, I don't think it would legally and definition wise qualify as rape exactly, sexual assault or abuse, yes. And just because you weren't threatened physically, doesn't make it your fault. It sounds as though you were intimidated into doing something you didn't want to do. You sound as if you are dealing with a lot of guilt for allowing inappropriate behavior to happen, but keep in mind, you were a CHILD, darling, you were a child, you cannot expect yourself to have been able to comprehend or handle such an adult situation appropriately.

I hope you find a therapist that can work with you to eliminate the guilt and shame you are dealing with.