How to forgive myself

I am having a hard time giving myself grace for what happened. I’ve been told it is rape but I feel like that can’t be true. I feel like it’s my fault.

I 20F was coming home from a night out in a cab. I was in the passenger seat and I was quite drunk. At some point, the driver put his hand on my leg and started moving upwards under my dress. I didn’t stop him. I don’t know why I didn’t. I tried to close my legs and move his hand away whilst laughing as if it was a joke. I told him I have a boyfriend. I kept asking him what he was doing. I should have done more to stop it going further but I didn’t. And I can’t forgive myself for not putting up more of a fight. If only I’d been firmer, he might not have gone so far.