Is this considered cheating?

My ex and I are still friends and he has a new girlfriend. Him and I were talking face to face playing around. As this goes on we are laughing at a joke he said and he puts his hand in my shirt and grabs my boobs inside my bra. He feels on them then takes his hand out. He used to do that all the time when we were together but we aren’t.

Is this considered cheating?
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