Dad Got Carried Away

I had always considered my dad a pretty normal dude.
He was just a very average stereotypical dad.

My family likes to wrestle.
Not like the actual sport with real moves but just horsing around.

Me and my siblings would get into some pretty wild knock down drag out full contact wrestling matches that usually ended with someone getting hurt but no one got in trouble because we were all agreeing to it.
I went to the ER once with a dislocated arm lol.

My parents would sometimes play fight with us too. Usually in a very joking light contact manner.

But one night, I was maybe 16, I went into my parents room to borrow something. The rest of my family was out in the living room.
My dad was in the room with me and he initiated a little play fight. Not unusual so I play fought back.

It got a bit more heated and I had to actually start wrestling for real. I remember thinking, oh he finally thinks I'm old enough to not hold back.
He gets me in a bit of a bear hug facing away from him and he pushes me forward down on the bed. With his whole weight on me I tried to wiggle out of it.
I'm giggling and struggling. I still thinking this is play until I felt his hard cock pressed against my ass.

I remember just kind of freezing up.
I didn't know how to react.

He then starts to bounce on me. Like his whole weight. It was pressing the air out of me and making me grunt.

He then shift his arms that had been holding me to my chest.
He groped at my tits through my shirt.
He kind of stops the full body bouncing to just pressing against me really hard with his hips.

I could feel the heat of his cock through his sweatpants and my pajama pants.
He squeezed my tits so hard they hurt and I heard him grunt.

He then slowly let's go of my chest and stands up. I get up too. I'm so confused about what just happened. Did what I think just happen happen?

He kind of laughs and starts joking with me. He plays it off like nothing happened and kind of herds me out of the room. As I left he was opening the dresser drawer with his other sweatpants in them.

He never did anything after that and I never said anything (until now).