Is it okay to befriend someone who previously assaulted you in the past?

It was a very close friend of mine. We had a situationship only the two of us knows. I was 14 while he was a year younger at the time and I did things that I regret. It started with subtle touches to the thighs and waist, that escalated into a tricycle ride assault where he tried touch and grope my chest. That was a year and a few months ago. We stopped talking after I confronted him about what he did to me. He kept his distance as I did too.

Recently it was my school prom night, We were sat next together and he was civil and even playful with me. When we stood at rocky ground and I wore heels, he cleared the rocks away from where I'm going to step on and even offered to hold me up. I feel he's trying to make up for the mistakes he did, well I hope he is. (Also: He never did this with me during the rest of the year until now, He never talked to me and ignore what I say in our group chats.)

It's the end of our school year and I'm graduating soon, probably leaving the same school. Should I try to forgive him and befriend him again? Yes I know it will take time and I consulted my friends about what I felt. I was just wondering if it really was possible for victims to make amends.