Is this rape or not

Hey so I’m a female 18, and last year I invited my friend over to hang out, we just hung out at my house and my parents were out but my grandma was home sleeping and so was my dog.

We were just chilling and we started making out, and I was fine with this, but I told him I didn’t want to go further. I like this guy so I wanted to take it slow. Also, I was a virgin and I wanted my first time to be special.

I told him no like six or seven times and he still just continued to finger me and then I don’t know how it happened. One moment he was fingering me the next his dick was inside me and I couldn’t even scream because my grandmother was downstairs sleeping.

I couldn’t push him away and this hurt like a bitch so I just laid there while he finished off. After he put himself inside me I didn’t say no, and just kept quiet and went with it. And he made me sit on his lap and make of with him after and then he left.

It felt like a quickie and that hurt so much because one he was my friend two I liked him and three I was a virgin and I wanted my first time to be with someone I cared about.

I’m not sure if this is sexual assault, my therapist said it is but it is also a tricky situation

What do y’all think

Ps he didn’t use a condom and I was terrified of getting something or being pregnant. Also I’m the first person he was with since he broke up with his girlfriend.

So does this sound like assault or no

Update: but this guy was my friend, and I was fine with everything including the fingering. Just not the actual penetration. Is it still considered assault?