Your question does not say as a child. I will say yes as I was in my late 20s and my girlfriend at the time did that. I didn't complain.
I'm so tired of the complaints of the two witness rule and statements such as this " I want to know, WHO in the hell molests a child in front of two people". Who does anything wrong in front of anyone. The objectives is fewest witnesses. But the two witness rule is for congregation action as support for corroboration or the testimony otherwise is a 'he said, she said' situation and thus a stalemate.