He had no right to do what he did. It is NOT your fault so please stop thinking that. You're no longer a school child and yes, you're over 16, but he has still violated the student-teacher relationship and he should never do that.
I think you need to report it, he shouldn't be allowed to get away with it and you wouldn't want him making someone else feel the way you do. You don't need to go to the consultation, if you feel scared being alone with him then this has had a bigger effect on you than you realise, and that's totally understandable. It's as though you've built up this trust with him and he's shattered it in one swoop.
You're not in the wrong here - he is. Report him to a course leader or dean, he can't get away with taking advantage of you. He's done it before, he's done it to you, he could easily do it again, and would he just stop at a kiss?
As for the way you feel, it could be an idea to talk to someone about it. You shouldn't feel ashamed, nor should you feel guilty. This isn't you're fault, but you have to give yourself the right help and time to get through it.