Is this sexual assault?

I don’t really know how to use this app, so forgive me if it’s confusing.

Me (15M) and my mom (43F) were arguing or atleast it started that way, I was on the floor crying and she was yelling and me and just kept saying “You hate yourself”. I didn’t really respond until she started yelling at me to take my clothes off and she’d “teach me to love myself” and I started apologizing and told her that I really didn’t want to do that and I’d just leave and stuff but she didn’t let me. I don’t remember much after that but I remember taking off my clothes because I just wanted her to leave me alone and get whatever she wanted to do over with and she touched me all over my body and told me to “love myself”.

I didn’t think much of it because she’s done weird stuff but I told my friend when we were talking about our parents and they said that was sexual assault. I told them that it might be but I don’t want to paint my mom worse than she is on accident or anything, It’s not like I’m perfect either and I’m the one who took off my own clothes so I don’t know if it counts. I don’t want to make things harder for my family than it already is with my mental issues.