What is the name for when a step dad feels on the step daughters breast?

My step dad did that to me when I was 16.Once I was asleep and woke up and he was playing with one of my breast.The other times I was awake standing talking to him face to face and he reach up and brush across them.Is there a name for this unwelcome activity,I know this can't be called rape but can it be called molestation? What ever it is,it was not right for him to do that to me:(