I know this is an old post, but I hope you still see this. I think it is important to find a way to let her know you are sorry. Obviously you don’t want to bring up memories she may have forgotten, but she could be desperately waiting for any sign from you that you are sorry. So maybe telling her dad would be a good idea, or maybe you can find a subtle way to hint to her that you are sorry, and see if you can judge from there weather to take the conversation further
As someone who was abused, I need to know if the person sees what they did as wrong (but it was worse than what you have discribed, and unfortunately I didn’t know to object until things got really serious)