Sleepwalking sex

I had a very unusual experience with bae last night, and kind of not sure where who exactly to talk to and at the same time I want other people's experiences if there is any.

Basicly, my bae has never been too sexually active, he only became now ever since he's dating me (we've been dating for 6 months now) and he has always been humping me while we sleep (like, he would hug me and I would feel his pelvis moving and his hard penis) and last night, he actually 'sleepwalked' and had sex with me. At first I thought he might be half awake, and I still found it kind of hot, but then he woke up in the middle of sex and sat on the bed complately disguisted by himself. I kept telling him that it is fine and that I liked it, but he can't forgive himself and actually considers himself a rapist now. Little heads up, this guy has been treating me like a queen and even more this whole time. 

Now he keeps saying that he is scared for me and of himself... I am so confused, I want to know if your guy ever did something like this? 😕