Was I Molested as a Child?

I haven't thought about it in a very long time until recently I have been watching some episodes of Law and Order: SVU and one particular episode struck some nerve in me. All of a sudden I can't stop thinking about something in my childhood. This something happened many years ago and I can't even remember most of it. I was about 6, most likely 7. I'll start from the beginning. It was a hot summer and I was swimming in a pool with my baby brother, we were playing around and he must of said something silly because I gave him a kiss. I remember this because when I got out of the pool my Grandfather asked me why I didn't give him kisses and I said because he wasn't my brother, I only give my baby brother kisses. Anyway, later on that evening my Grandfather, (lets call him Bill) called me into his back room and asked me to give him a kiss. I gave him one on the cheek, he told me to give him one on the lips like I did my baby brother. So I did give him a quick kiss on the lips but after I pulled away he told me to do it again. This time he told me to open my mouth, it was normal and we were family and that was okay. So I did..I can still remember the horrible taste of his tongue slipping down my throat and his beard scratching my face, some of the whiskers from his mustache got caught in my teeth. It didn't last very long, but after he was done he told me it was a special kiss. Only our little secret, and that it was okay because we were family it was normal. He went on to say some other things but I don't remember what. But I left that room somehow loving him even more, I gave him a kiss on the cheek before I went home that night even. I visited my grandparents almost every other day. I remember after this happening sometime later my grandpa would take my brother and I on walks through the woods. He took us so we could enjoy nature and get exercise. Sometimes though he would just take me and not my brother and we would go way up in the woods and he would hold me very close and start to french kiss me like he did that one night in his backroom. For the life of me I can't remember if he ever touched me, and its probably because for some reason I enjoyed it. I didn't want him to stop, sometimes he'd provoke me, but he never made me do it. He'd always ask me, but I never once refused him. What the hell was wrong with me? I couldn't stand those horrible open mouth kisses, he was a drunk who had a terrible smoking habit. His mouth tasted like fresh cigarettes and Bud Light. He used to do this all the time, almost every day he'd take me for a walk in the woods. It only stopped because my parents moved to another house an hour away from my grandparents and I no longer saw them every day. I only saw them maybe once a month. Even then he didn't try to kiss me or take me for one of those walks. My grandparents divorced very shortly after we moved away. He threw my grandmother over for a younger woman. I never saw him again. I wish I could remember being forced or even being touched, all I remember was being coerced at one point, from then on it was of my own consent. But I was only 7 years old, and I always knew in some way it was wrong, but I was never sure if it was exactly illegal since I could never remember an unwanted touch or unwanted kiss. I wouldn't exactly define that as molestation since I gave him consent, even though I was too young, I still for some reason granted permission. Its not like it was Statutory Rape, he never tried to have sex with me. The clever bastard knew how to stay legal. Can someone tell me what exactly that was that happened if anything? I know this happened a long time ago and as I got older through time I realized how wrong it was, but I could never find a name to call it. It hasn't really bothered me, I shoved it deep into my subconscious and I have never looked back. I have carried it around like a stone inside my stomach for the last decade. It used to bother me, but it doesn't so much anymore. I guess I've gotten used to it. Watching this episode of Law and Order only resurrected a few memories. Its really been getting to me lately, can somebody please tell me what it was that happened in my childhood. Thank You to anybody who had the courage to read all this crap, your help is greatly appreciated.