Im sorry to say but no it isn't sexual assault. If you only regretted after doing "it", then you are in no way a victim per se. But it isn't your fault either.

Teens have their way of experimenting and being very curious. Its all really about what the community in general thinks about it. Please dont go by personal opinions because everyone has their own understanding of whats good or bad.

{This Is What I Would Do Next}

I would consider it as a stupid mistake and go on with normal life, Stick around people you trust and love , stay away from any thing which would trigger those thoughts, If anyone is making you feel uncomfortable, avoid, report and speak up. If you have very strict parents I would avoid telling them. Tell only one person (Sibling, friend) whom you really trust about the incident. Stay away from any related activities also for a while until you have completely moved on.

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Many people have also regretted some actions and have found their way around it. You can do it too. <3