Am I a child molester? Please help!?

When I was about 12 I remember experiment with my brother and cus who are a lot younger than me they were about 5 and 7. I have never forced any of them. It was concentual in both accounts I would have never forced anything. It happen once with my cus and twice with my brother. I feel intense guilt about it. Please help me! I was molested As a child and i don't want to put then through what I went through. I font know if they're hurt by it, they love me and are cool with me now. Ad an adult I would never do such thing but i feel great amount of guilt Bout it. What should i do??