TW: Sexual / Needed help

Hi i am a boy around 20's and I am asking for sincere help. This grave mistake that I made when I was a kid is haunting my brain out. I am reflecting to that mistake and I am truly sorry for what I had made.

When I was a kid around 4 - 6 years old, I don't know what came to my head that I used to call my other boy cousin around my age then, and invite him to the tall grasses and do the sucking. he suck mine and i suck him after. No one saw us. We did this a lot and did not got caught even once. IIRC I used to invite my girl cousin which is a little bit younger but she was just sitting there to play around our little house while we both are sucking. I don't know if she saw us or just playing but I don't know.

That's it. I know. I'm so bad. I don't know why I did that. Why did I do that? I'm so scared that if I bring up some memories of my childhood. They might find out. How am I gonna face them? How am I gonna face those people who will find out? Do I go to jail with this? I DONT KNOW. This has been bugging me for a long time now and been overthinking. I'm living with so much guilt in my life. I don't know. Please can someone help me. How do I continue living life knowing that I did this? Thank you so much. Your help is much appreciated.