my friend (17f) got touched in her sleep by my other (now ex)friend (16m)

Location: Maryland

Sorry if this isnt enough information or formatted terribley but im new to this sub and im only 16 :')

I'm going to keep the details short because this isnt my buisness to share, but yesterday one of our friends(D) told us that he saw another friend (P) with his hands in my friend's(O) pants while she was asleep at my birthday party (~1.5 months ago). She also told me sometime in January, while she was still 16, a similar thing had happened where P kissed her in her sleep but she never told anyone because she didn't really care and it wasn't as big of a deal to her.

She has already texted P and has been trying to get a confession out of him for evidence, and he kind of admitted it but hes being very vague, and other than that the only evidence we have is D as a witness but im not even sure if he would be willing to testify against P because he's known him since they were kids.

O also is hesitant to report this because P's family is lower middle class and she doesn't want them to have to pay legal fees and/or a fine because of what P did. If we are going to go forward with getting the police involved, how hard would this be financially on his family? And is there any way we can go about this without them having to pay a lot of money? And also, is this even worth the effort if we can't get him to directly confess?