Yes and no. The two worst aspects were A) that it was a same gendered family member and I hadn't considered myself gay or bi at the time, so it was obviously outside my comfort zone, and B) that it happened over and over again over a summer, so I lived with the dread of knowing they were going to come back and I would have to go through it all over again.
It is hard to answer if it is as bad as others say, because the worst of it isn't the physical pain (or it wasn't for me; I have some minor health issues as a result, but nothing that requires treatment or should result in death), but the feeling of betrayal and issues with trust for the following twenty years. I can't say whether or not I would be a happier person today if it hadn't happened, but I can say with certainty that I'm much different. I live in the first world, so my life could be so, so much worse, so I consider myself lucky that I can be raped but not be ostracized by my community (but then again no one really knows; literally about five people), then go on to live a moderately average and healthy life. I try not to let my being raped define me. It happened, but it isn't who I am.
All of this considered, I would say depending on the circumstances, it isn't necessarily so bad, but can be so much worse than I could describe in the chan's character limit. I don't want to kill myself anymore because I've grown to accept what happened, but not everyone is so lucky.