Is this a form of sexual assault?

i was hanging out with a few of my friends a week ago. well, one of my guy friends took a towel, stuck it down his pants, rubbed it on his you know and then stuck it on my face near my mouth. he held it down. i tried to push him off and was kicking but he still kept doing it. i haven’t told anyone because i feel horrible about myself and think people will think i am a whore or something. i think i did something wrong. i was just sitting down reading a text, nothing more. should i tell my parents? i feel really depressed and i think my parents will think i did something wrong. i dont have sex, never did any of that stuff. im afraid theyll think less of me