is this incest???

okay so i need some honest advice. from the time i was 2 years old my mom started dating this guy which went on for about 10 years (up until i was 12). he had a son who was the same age as me, but his mom had custody over him so he never spent much time with his dad, so i never met him. a few weeks ago i was at a bar and started talking with a guy and we got on really well. we have been hanging out and talking ever since and i think i really like him. HOWEVER i recently introduced him to my mom who was shocked and later told me that this guy is her ex's son. she wants me to break it off because it makes her feel uncomfortable because she doesnt want anything to do with her ex anymore. all my friends also find the whole thing weird, some even saying that its basically incest. i dont know what to do because i agree with all of them but i really like this guy. my other issue is, i have no idea how to tell him about this because he has no clue that his dad dated my mom. please help!