Can someone be charged for sexual assault after 10 years??

A(24m) I know had to disclose during a job interview for a county jail that 10 years ago he grabbed a girls butt he knew while having a sleep over and now his home county sheriff department called wanting to disclose the issue with him. The matter was solved between the two families and no charges were filed? My questions is, is this something he can be charged for even if the other party does not want to press charges and if he calls discloses information with the sheriff office can they press charges on their own?