Incest Survivors Support Group
Incest refers to any sexual activity between closely related persons that is illegal or socially taboo. Consensual adult incest is very rare. Incest between adults and prepubescent or adolescent children is a form of child sexual abuse that has been shown to be one of the most extreme forms of childhood trauma. If you or a loved one is a survivor of incest, join the group...

One of the greatest tools that the rapist uses against the victim is, fear. They threaten to kill the victim, their family members, etc. This is another form of control. Rapists are control freaks. They get their "highs" by controlling their victims. Power and control is what feeds these criminals.
I was raped and sexually abused by my father for most of my childhood, by some of his friends on at east one occasion, I was raped by a fellow guest at a so-called friend's house in my 20's. My father is now dead and by the time I was able to even think about being able to face and report my other rapist I no longer had the means to track him. Luckily, seeking justice is not essential to healing.
Recognising what was done to you is the first step. You might want to think about contacting a therapist or a woman's shelter, there are many many books that offer help and insight ('The Courage to Heal' is one) and there is this group. Whatever you do, take it at your own pace and try to be kind to yourself. You did not harm anyone else, they harmed you. What happened was not your fault.
Hugs
One of the best books out there for rape victims, IMO, is Resurrection After Rape by Matt Atkinson.
And, kittycat72d, the shame is not yours...but it may take a while before you understand that.
Your work now is to heal yourself. Go check out that book.
xx