Is this considered by her brother?

My friend told me this happened to her... Well, she's now fourteen and her brother is fifteen. When she was like five and her brother was six he took this toy thing from her. He wouldn't give it back to her. He said if she got naked and on top of him he would. She hesitantly did but she kept her shirt on. He said, "no, all your clothes." So she did. The brother was naked and lying on his back on the floor. She laid on him and their "areas" were touching. He was wriggling so he was positioned so he was touching her more. Like, he was really touching her there with his thing but he never entered her. Is that considered ? Keep in mind they were only five and six years old.