He hugged his sister when they were both naked

When I was 13 years old (adult) I took my sister and hugged her naked. Our gentles touched. But there was no penetration.  
After 23 years I feel miserable. I want to know is my action subject to hadd If I repent do I need to confess so hadd can be carried on me or is repentenc enough.

Praise be to Allaah.
You have to repent to Allaah from this evil and reprehensible action, and regret what you have done, and resolve never to return to anything like this. Whoever repents, Allaah will accept his repentance, as the Prophet (peace and blessings of Allaah be upon him) said: “Allaah accepts the repentance of the one who repents.” Narrated by al-Bukhaari, 6426; Muslim, 1048.

It is obligatory to repent from the great sin that you have committed. We ask Allaah to forgive us and you, and to help you to repent sincerely.

You deserve to feel sorry and to regret what you did, because a man should protect his family and fight to defend their honour. (Whoever dies defending his honour is a shaheed or martyr).  So how could he be the aggressor and sinner? Perhaps this incident will make you more certain of the importance of raising children with moral values and separating them in their beds, and keeping them away from the things that may lead to evil and the things that may provoke desires in them and make them fall into evil.

After all of this we advise you to cover yourself and not tell anyone of what happened. There is no hadd punishment to be carried out on you, rather all you have to do is repent sincerely and do a lot of good deeds (because good deeds wipe out bad deeds).

And Allaah knows best.

Important note to learn and Read Quran online
The Holy Quran is the word of Allah; it has been sent down to guide us and the guidance can online be gained through reading quran online. No other book can be like holy quran. As you come to the learn tajweed quran, Allah speaks to you and reading Arabic Quran is to hear Him, even to converse with Him, and to walk in His ways. So it is must for us as a Muslim to learn and do quran memorization by heart and the Quran tutor should teach the kids from quran qaida and then teaching quran online along with the quran tafseer and let the kids memorize quran so that we as Muslim could learn quran tajweed rules and then understand the quran tafseer  It is the encounter of life with the Life-giver. 'God - there is no god but He, the Ever-living, the Self-subsisting (by whom all subsist)  He has sent down upon you the Book with the Truth ... as a guidance unto mankind ...' (Al 'Imran 3: 2-3 learn quran recitation). So we should always remember the guidance of Allah and we should be listening to quran online along with obeying the commandments of Allah so let us join hands to lean the Koran and let our kids do quran memorization and learn the teaching of quran education online and apply them in there life there is kids quran lesson available online as well