Sexual curiosity at 12/13?

Hey guys, so at feb i got fausley accused of sexually assaulting this girl, she accused me of this because i gave her a lift to a place and didn't want to give her a lift back as it was late.. So she went to the police and said I sexually assaulted her.. Luckily I had more than enough evidence on fb of her saying come meet me and calling me and basically harrassing me and she even said on fb, come give me a lift all i'll make you regret it. WELL SHE HAS. This accusation has made my brain go over drive, i even started thinking wait did i touch her leg when i said if shes alright and like i was making things up in my head? Even started popping up to ex's and speaking to them to see if they said i was ever too forwards all stuff like that... But now i'm thinking back to when i was 12 or 13, we were on holiday and i touched my sisters "vagina" she was 2 years older than me, but when i mean touched i mean she was wearing an all in one swim suit, i never went under the swim suit, i think i was just curious about what it felt like tbh.. But is this normal? Like i didn't put my hand underneath the bikini or like forced anything, and when it happened i touched that area for like 2 seconds till she just pushed away... I think in my head i was playing.. But this has affected me, because i dont want to be something i know i'm not? Everyday, every minute it's haunting me, it may seem petty, but when you get accused of something like that it makes you go crazy.Also when the girl got caught out the police didnt even tell her off? shes just laughing.