Is it incest?help!

When i was a kid i slept together with my mother. Some days i was sleeping with my father. i didn't know i was gay back then. i kind of knew i was attracted to guys. so when i was sleeping with my father, i intentionally tried to touch his private parts. he moved away. he didn't say anything to me about it afterwards. i don't know whether he talked to my mother about it. It happened when i was around 12 years old. Now thinking about it , i feel so disgusted at myself. What was/is wrong with me? please help