Is this considered molestation??

When I was dating my ex boyfriend we would always be stuck at his house bc he was broke so we could never afford to go anywhere and he lived with his family. He was very handsy and liked to touch me a lot in certain areas. If he had had his own place I wouldn’t have minded at all bc I honestly liked it sometimes. The problem is his family is very Christian and his parents forbid us from having any sexual contact. They had caught us doing stuff a few times and asked us to stop so I finally told him we couldn’t do stuff like that anymore at his house. He wouldn’t listen though. Sometimes he would make me go in one of the spare bedrooms when his parents weren’t paying attention and he would shove his hands down my pants and touch me down there and other times he would put his hands down my blouse and rub my nipples. I would tell him to stop bc it made me extremely uncomfortable but he would ignore me and keep doing it and I would let him bc I was afraid he would break up with me if I didn’t let him touch me. (I was really stupid and naive back then and had horrible self esteem so I would’ve done anything to keep him from leaving me) anyway it just always bugged me since we broke up and I always wondered if it was sexual assault or not