People on the left, at least the ones like you and Whoopi, change their definition of "sexual assault" (or in her case, rape vs. "rape rape" to have her friend's back) almost weekly to fit their agenda. What you consider not sexual assault today could be sexual assault next week depending on what Trump says or some other equally stupid reason that has no basis in reality.
Let's get back to what you're dodging though...
Was this with a woman? Because you "forgot" to specify who this sexual contact was with. And since we're talking about women here, it's a relevant question.
And sucking on your mom's boob as an infant doesn't count. Neither does touching her vag as you were being born.