I'm embarrassed that I did sexual things with my ex

I was in my first real relationship for six months and we ended up breaking up about six months ago. During our relationship, I gave him handjobs and blowjobs but never had sex with him. He would finger me and gave me oral once but I never could relax enough to enjoy any of it so I don't think I ever actually got off from it. I would pretend it felt good (which I know you're not supposed to do) most of the time. The only time I ever had an orgasm with him was when we were dry-humping, which sounds totally juvenile. We're both 20 and 21, by the way. Now that we're broken up, I'm embarrassed that he saw me orgasm especially from something like dry humping.