Did my professor went too far? Is this harassment?

Anonymous
Today something really weird happened to me today and I wanted to know what you think. If my professor was harassing me and went too far? or should I let it go?
My uncle (uncle-grandpa) passed away some years ago, and he really was an inspiration for me: I am studying the same career he did at the same college he went to. The first years I had there were fine, but I don't really have any friends though.
This semester I chose the class of a professor, we'll call him RD. Apparently, he was really close with my uncle and they were buddies in college. He took care of my uncle's son and my sister also was his student. So they always have a lot of respect for him and encouraged me to be part of his class. The first weeks of class I told RD that I was my uncle's niece and he treated me very well, he answered all of my class doubts and everything was fine as a whole.
Until today when I asked RD if he had my test graded (since last class he gave the tests but I was absent). He told me he had it in his office and that after class I could go with him and get it. Also, another student had the same issue so fortunately he also went with us. We were on our way to his office, but the other student stopped to say hi to the another professor and RD and I waited for him. Then RD got close to me and patted my back. And then he proceeded to go down my arm and hold strongly my hand. I got so weirded out, but I wasn't really paying attention, I was paying attention to the other student (and that's what makes me the angriest). He left my hand and I quickly called the other student to come. We went to his office, got our test and went our ways. Nothing else happened.
Until some hours ago, I started thinking a lot about it. I feel grossed and weirded out so much. Should this be considered harrassment?

What should I do? I got 2 weeks left of the semester and I have to do his final test, do you think I can endure it?
Is there a way I could make him not repeat what he did?
Updates
1 y
Professor RD is like 70 years old, he has a wife, and I'm a student but I don't feel we are close enough even if he is close to our family and was my late uncle's friend. I feel so uncomfortable and unable to speak to anyone about it. I really want to never go to class again, I don't want to see him, nor have any contact with any man cause it makes me feel angry and sad again. I need my space and I hate it.
Updates
1 y
What I felt worse was that he did it in the college's patio where a lot of people hang out or cross to their classes, what would they have thought we were doing?
Did my professor went too far? Is this harassment?
5 Opinion