Is this rape?

My boyfriend at the time that I was dating for 6 months was always asking me for sex and I was always telling him no. I had never had sex before and I just didn’t feel confident at the time that I wanted him to be my first. We did other things though, and one of them was he would put “just the tip” in. That was fine for me but I would always tell him not to go too far. One day he went all the way in without my permission and I freaked out and told him to stop. At the time I didn’t think about it as a bad thing just that he had made a mistake. The next day after thinking about what happened I told him we could have sex. Why not right? What I was trying to avoid basically happened so there wasn’t any need to hold back anymore. Of course, we only did it once and then he broke up with me a week later after I got back from my grandpa’s funeral to be with his ex. My question is, even though I know I said yes the second time, was what happened before still rape?

Update: To be clear, I told him not to do something, and he did it anyway. Know full well that I said not to do it. If someone was on the street and a man ran up and groped her, but then stopped when she yelled at him to stop, I still think that’s assault. And to the people who say I don’t know what rape is, I’ve also been raped after this. Complete, full definition, rape. I know what it is and that’s why I am a little questioning on what this first time was.