hi jake. I wasnt sure if you checked out the laws in your location about this so I did a quick google of your locations laws for you. based on the laws in your location what happened to you would not be rape and would not be sexual assault. the law says it has to be forced and your post says "But I wasn't threatened in anyway or physically forced."

that said in my location what happened to you would be called sexualized play. I remember many times when my relatives and I experimented in sex this way. some of those times affected me more than others. but still my location and culture called it sex play between children \pre teens\ teens.

i know that doesnt make you feel better. maybe you can contact a treatment provider who can help you with how you are feeling and I am sorry that this happened to you.