How my father sexually abused me (not the worst case of sexual abuse)

So here's my story about how my father sexually abused me, so (at the time I was 12 he was about 30) so this all started when he wanted me to go in the kitchen and make a sandwich with him so I'm making my sandwich and while I was, he started hugging me and started touching my right boob and he complemented me, so at the time I was on a call with my best friend (we are still best friends) so he wanted me to sit on the couch with him so I did (wish I haven't sat with him) we were in front of my mom and her boyfriend so he didn't try anything, then later on he wanted me to go in his room to cuddle so I did (worst decision of my life) and we were just watching a movie in his room so he starts slightly humping me and he puts his hand under my pants to feel my ass and then he starts "messaging me" and so he weirdly touches my nipples and lifts up my shirt a couple of times to see my boobs (I wanted to leave so bad) so I finally get to leave his room and then I tell my friend about the whole situation and I ask her if I should tell my mom and she's like yeah you should so later on I told her then she couldn't really do anything cause I could get taken away and so she said she would make sure that would never happen again and it never did (gladly it didn't go further) sorry for poorly explaining the story. (also I didn't know what he was doing until my friend told me, I told her what happened in the kitchen and she was like are you being sexually abused? then I googled it and I found out I was)