Do you think I need help?

So in February my (now ex) boyfriend technically molested me. It wasn't or anything... It just involved him laying on top of me taking off my clothes and me crying and trying to get away i guess. Anyway. My dad also sometimes will grab my when he's walking behind me. and he's walked in on me changing before. When I told him to go away he stated that he "held me naked when I was born" and so he "can see me whenever he likes" I really don't know if I'm overreacting but it makes me really uncomfortable and I, who was once a very affectionate hug-y person, am now weary of being touched... Opinions?