Hi, I'd like to help you with your question.
Yes, that was sexual abuse. Anytime a parent or another adult asks you to touch them in order to bring them pleasure, it is sexual abuse. There is no reason that you, as a child, needed to be providing that kind of touch or intimacy to an adult.
Anytime a child is used in this manner, it can affect that child by causing confusion, strong feelings and hurt. Sexual abuse can range from emotional to touch to intercourse and rape. Adults who abuse rely on the trust and dependency of the child to perpetrate the abuse. Kids are taught that adults are the authorities and are not to be questioned.
As an adult survivor of abuse, the effects of being abused can range from depression, low self esteem, anxiety, drug and alcohol use and anger. Some survivors feel suicidal.
If you feel that the abuse has affected your life in such a way that you are bothered or have trouble with daily living, seek out therapy. You can talk with your doctor about a referral or if you attend church, your pastor can help. You can also search on line at http://www.find-a-therapist.com/.
There are also support groups on line as well as in person. Here are a few you can link to:
Here are some books that may help you get started. One is called Hush: Moving From Silence to Healing After Childhood Sexual Abuse by Nicole Braddock Bromley and another is The Courage to Heal Workbook: A Guide for Women and Men Survivors of Child Sexual Abuse by XXXXX XXXXX. You can find these books on Amazon.com or your local library may have them available.
I hope this has helped you,