I think Snaga has a good suggestion there. The only thing i would add is you may want to speak to a qualified professional for your own peace of mind about it, or if you have ongoing issues around it.
Which I believe you don't need to have, given the circumstances. This doesn't have to affect your relationship with her. Youwere both very young. And as you say she may not even recall it, or if she has she may have made her own peace with it.
Does she appear to have normal opposite sex relationships? A good boyfriend, a group of friends, dating experience?
Sounds like you may just want affirmation that it's not something to stress about, and it sounds like it isn't. Just one of those childhood experiences that is not talked about openly because people are frequently uncomfortable around such topics.
Just my opinion.