friends with benefits

So a couple weeks ago a guy that I'm friends with came over and we had oral sex for the first time. We had sexted before but that was the first time doing stuff in person. Afterwards I felt a little bad about myself because I was doing these things with a guy that I'm not even with, but I've been friends with him for 6 years. Now he wants to come over and actually have sex and I'm scared because I've never really gone all the way. Idk what to do