Did I just have dry sex?

Yesterday I went to my bf house and I was in his room but everybody else was home so we made out hardcore And he kept feeling all over my body my legs my nipples and just made me know he wanted me and I kept telling him I want u, so we left the house and went out to my truck. I asked for one last kiss but I pulled him in and he spread my legs and got on top of me And I started licking him and biting him then I felt something like a rock between my legs and he started penetrating me but we both had our clothes on and afterwards it was soooooo awkward. I am a Virgin and he knows I'm scared but last night was the night and all we did was that. But ifk Wat I was supposed to fo