Yes. Any unwanted sexual penetration is rape - this person acted unlawfully, cowardly and you were right to tell your brother and mother. He should definitely have been arrested.
I hope you know that being raped or sexually assaulted is not your fault - you didn't "ask for it", you didn't deserve it and you are not a bad person or less of a person because it happened. I hope you're okay and that you have the support to move on with your life and take back control.