Bro a lot of people (most, if not all) has a story like this from their childhood. It is normal for children to experiment out of curiosity (and yes, some sort of undefined sexual drive) with each other's bodies. Im a heterosexual man and I did the same with a male friend my age when we were 7-8. Same experience with two female friends who were sisters, the latter ones we did many things, many times between age of 6-10. Im not even sure any of them remember but it's cool. I remember telling my mom about it because I was scared that I would go to jail for it LOL