Crimes Act 1961, s 135
If someone makes physical contact with you without your consent, this is called “assault.” Assault is divided into more specific offences in the Crimes Act. “Indecent assault” is a specific offence which covers physical contact of a sexual nature that happens without your consent. This includes, for example, if someone kisses or intentionally touches your genitals without penetration, when they don’t have your permission.