Should I Explore Further?

This happened a couple nights ago. I am nineteen, and I am gay. I visited my aunt and her husband. They had been drinking and were drunk. As they drank, he had his usual boring conversation. He was just talking bull. Anyway, as he went on and on, he suddenly hugged me and brushed his hand against my butt. He did it twice, so I played along and returned the favor by accidentally brushing the back of my hand against his manhood. I did this about three times, and he seemed to enjoy it. It was time for me to go, so he walked me to the door. I said goodnight and gave him another hug. We embraced each other. I again brushed my hand against his manhood and then left. What should I do? Keep doing it and explore?

— Eli, 19