Can I Get Into Legal Trouble If I Disclose A Situation Where I Committed Cocsa To My Therapist?

Location: Ohio
Im going to try my best to summarize this and also have it make sense, if anybody is confused about anything please let me know and I’ll try my best to answer. So I’m only 17 years old. When I was maybe 9 (though I suspect I was younger) I committed cocsa on my younger brother who was 5 at the time. Yes, I know this is wrong, but I didn’t back then. At the time I didn’t understand what I was doing and neither did he. I feel like it’s important to mention there wasn’t any coercion, and it only happened once. Recently, I’ve been struggling with mental health and so I may be getting a therapist soon. I really want help with this situation because I feel a lot of guilt and it’s hard to move on. Thing is, I can’t move on because I feel like I’m going to be punished. I know that in situations like this children need therapy and stuff like that, but I just have bad thoughts that the police are going to knock on my door and send me to juvie or jail for what I did. I didn’t even understand what I was doing. So naturally, I don’t really want to tell my therapist. I also don’t want to get cps involved because I still live at home with my brother, and I think that’s reason enough for them to try to get involved. I just don’t want to ruin anything. I try to be a good person and I want to go to college and live a life, I really don’t want to go to jail for something I can barely remember. Any advice is appreciated and thanks for anybody who read this.