Was I raped by my ex?

So when I was dating this guy he knew that I didn't want to have sex. I told him multiple times. I ended up breaking up with him because we were moving so fast. Then like half a year later we start hanging out again and we start making out and stuff. Well his parents won't home and we were watching movies and we ended up making out in his room. Well eventually he was naked and I was all naked except for my underwear because I told him I didn't want to go that far when he tried to take off my underwear. Well he kept pushing at my underwear and then he just moved my underwear to the side and letting the tip of himself touch me, which I did let happen but when he tried penetrating me I tried pulling away because I didn't want him to but he didn't really let me. Idk if it was rape. I feel like I just let so muh happen and that I could have stopped it but now I just feel so ashamed and dirty.