Is it normal for your cousin to touch you while you sleep?

So when ever i sleep over at my cousins house, we have a great time. But then when it is time to go to bed my cousin that is the same age as me will magically fall asleep right next to me. Then once i fall asleep i will be woken up by the feeling that someone is touching me(down there) It is so uncomfortable. then sometimes he will get on top of me before i wake up and go into my pants. Idk why no one ever wakes up. As soon as i realize what is going on. I feel paralyzed and just take it. It is so awful. Is it normal that your cousin would do this to you?