Is this wrong?

My boyfriend and I have been getting more physical lately and I've been having issues setting boundaries for myself. We recently humped each other (all clothes on) but it's difficult for me to feel good about it and I feel like I keep doing something wrong. Is humping and making out a sin? I keep trying to repent, but it's getting more and more difficult. 
How do I effectively tell my boyfriend where and when my limits are?
Also, can you all please pray for me and my boyfriend's purity? Thanks!!

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