I'm not sure what to call this. It seems small but I can't stop thinking about it and hating myself for it.

I don't know what to call it, so I just act like it was no big deal. For whatever reason, I didn't really recognize what happened or remember it until a couple months back. I was on the school bus with a guy I liked, and we had talked about dating once he was allowed to. I had almost fallen asleep leaning against him and was just drifting in and out when I realized he had his hands on my thighs, which I kinda felt panicked about but figured I was overreacting. He then slid my shorts much further up my leg and kind of just felt up my thighs (under and outside) and felt me up I think (I don't know if that's the right term). I remember being so absolutely terrified of what was happening and I didn't know what to do. I didn't want to embarrass him or make a fool of myself, so I never brought it up. We ended up dating for almost 6 months about 4 months after this happened. We broke up when I recognized what it was but I never mentioned it to him, I don't even know if he remembers. I feel awful knowing I dated him after but keep thinking it was no big deal.