I've been struggling again. Pls help and I don't care about reassurance

1. As a child my mom used to touch out butt sometimes. Not in a sexual way or so. In my culture the people are more touchy. I never had an issue with that but now I'm worried. My sister told me about it some months ago and said that it made her feel uncomfortable.

2. This may sound pretty weird but my mom has a bigger butt. I'm really trying to type this without sounding strange. So my father used to touch my mom's butt to kinda annoy her in a joking way. Then he asked us to do the same to annoy her. I feel really bad about that one too. Again it was never meant sexually. I'm not trying to make this sound strange 

3. One day my dad came out of the shiwer covered. I don't know why I said that and please don't ask me. So I saw a bit of his.... And I told him that I can see it so that he'll cover it. He and my mom started laughing and he said something weird like. " Do you think it's beautiful" but it was more like "what the fuck did you just said?"