Generally anytime you touch someone's genitals without their consent that is sexual assault.They started kissing and then the accused sexually assaulted the victim. He later admitted to touching the victim’s genital area. He has not come to garda attention since the offence. Irish times
So he copped a feel.
It is the consent part that makes it copping a feel.
Just to cut off the inevitable response, if he thought she had consented then he wouldn't have confessed and pleaded guilty. He knew she didn't consent. He did it anyway. That's what makes it assault.