was this sexual assault

so, my childhood best friend would love to play on the trampoline as well as his sister when I was like 5-7 (I barely remember) but one time they both were actually strange but we were playing on the trampoline and having fun then my childhood best freinds started taking off his clothes, then the his sister followed what he was doing. But they didn't touch me or anything like that. They did ask me to take off my clothes but everything after that is a blur i do remember saying something like "my parents won't let me" but I really need to know if this was sexual assault since they both technically didn't put there hands on me