Sex and family

My boyfriend and I had sex twice, and this last time his dad found the condom. I am so anxious about what is going to happen but I don’t regret having sex with him or losing my virginity to him. What do I do? Does anyone have any advice? His parents aren’t mad, just disappointed and they promised not to tell my parents (if they ever knew, I wouldn’t be allowed to see him or contact him). I’ve been in knots since and they want to have a conversation about it when I go over to their house again. I don’t really know what I’m so anxious about but I don’t have anyone to tell and I am really scared. Advice, stories, and reassurance would be amazing please!!