I slept with my Brother ( not what you think)?

ok when my uncle was sleeping over me (14) and my brother (16) had to sleep in the same bed as my brother, at around 3:00 am i woke up he had wood and was holding me close (like really close) (i felt it) but i don't feel weird because we have walked in on each other masturbating before am i getting felling of insect, do i take this father if not how do i stop them