Not sure what happened

Me and this boy started "dating" when i was 14 and he was 15 (i know it's young thats why i put dating in quotes). Well i was really innocent and sheltered so i didnt know what i was doing. Whenever i was alone with him he would always try to convince me to let him touch me (finger me, touch my boobs, kiss me). I didn't really like it but I let him because he wouldnt stop asking and whenever i said no he would get mad at me.

This went on for about a year and he kept pressuring me to do stuff.

Finally right before I turned 15 he started pressuring me for sex. I really didn't want to have sex with him because I knew he wasnt the right one for me but he kept pressuring me so I finally let him. After this i had so many regrets and hated myself. But i figured i had already done it with him so i kept doing it with him and that became our whole relationship up until i was about 16 and finally broke it off with him.

Before the break up the sex was horrible. It would hurt so bad and i would tell him to stop but he wouldn't. I would even be crying and he would still keep going saying he was "too close and couldn't stop now".

Looking back, i know this wasn't right. I also read that pressuring is a form of rape/sexual assualt. So my question is.. was that rape? I've never told anyone because I was afraid they would say "well you agreed to it" and blame me for it. I also just tried to block it out and say that all teenage boys are agressive and curious about that stuff and it was just curiosity. But now I've been with my boyfriend for about 3 years and he never pressured me even once. Should i tell him? Or anyone? I'm just now coming to terms and realizing that what happened wasn't right. Where do i go from here?