Is it normal - when i was in the navy in san diego,

In 1987 when I was in the Navy in San Diego, I was on limited medical duty at 32nd St. Pass and Decal office, Among the Judges, a 1st class Corpsman, we all just called him Doc. I wish to hell I could remember his name.
It was a really nice summer day,I was out working the lanes for vehicle access, the Corpsman 1st class came out and asked me if I wanted to go for a ride and get out of there for awhile. He needed to stop by his house. Now remember he is a Corpsman, thats like a glorified paramedic. He asked me again what I was on medical temp. duty for, I told him I had issues with my knees. We entered the front door, I stood in living room. He came back after a couple minutes, "Here take this" he explained it as a pain reliever/muscle relaxer. He then tells me he had something new to try for my knees and so he said I could sit on the bed and pull my pants down to me knees. He was gonna "show me" something. Now remember hes a corpsman and we usually trusted them. I feel him put something on my knee and start rubbing it in for a bit, after 10 minutes or so he started rubbing his hand on my groin area and under and into my underwear and rubbing my cock and trying to get me aroused. Also remember he is my boss at work. I just layed there, I did not want to be there, I DID NOT ask for sexual gratification. Well finally he was done trying to play, I just pulled up my pants and went and sat in his car. I had the feelings of guilt, shame, embarrassement. The next day at work I was talking to the female I worked maintenance with, I confided in her what happened. She asked me "Did he say Does that feel good, how does feel, etc." I said OMG He did that to you too. We went right in and found our bosses boss, told him we need to talk privately. So her and I both told him our story. He was sure it would be handled accordingly.
A week or so later we found out what this guys punishment would be-- Get ready for this-- HE WAS TRANSFERRED to another duty station to carry on his sexual molesting of innocent young people that are scared of how to react. I could have got up and beat the hell out of the guy, I could have been charged for assault and whatever else they could wring out of the mess. IS IT NORMAL that it has taken me over 20 years to be able to get past the guilt and shame I have felt since this happened. People tell me "Ah just get past it and move on". I still dont know how and I had days that I felt really like I just wanted to commit suicide. I feel like people can sense things or unless I just have a air or a look about me because of that incident yrs ago. Any Ideas how to get past and not be so emotional about that day long ago ? I am open to any Ideas really. Again I apologize for being long winded. If you have read this all the way thru, Thank You for reading. I swear this is a true story, it still haunts me. Ladies, I understand when you say no, you mean no, and it hurts to have someone all over you when you dont want it.