I Had My First Sexual Experience Young

I was about 10 and played with this girl who would drop her pants if you asked her to. We were at a friends house, in his bedroom and I asked her to show me. She laid down on the bed with her legs hanging over the side. I knew nothing about sex but I thought how good it would feel if I put my little boner up against slit. I did but I just touched it and there was no penetration so I don't know if this counts as a sexual experience.