I don’t know what to do

So a few weeks ago, a guy friend asked me to come over to his friends house so we could talk (we had gotten into a fight) and at first I said no I couldn’t because I was busy. Well he said that he would never talk to me again, hate me, etc. so I decided to just go and see what he had to say. Well when I got there he said let’s just sit in my car and talk, all my friends are partying inside (I thought it was weird but I trusted the guy). So we were in his car and he immediately started grabbing all over me and trying ti kiss me. I told him to stop that I thought we were talking about our fight... well he stopped and we were talking for a minute or so, and he starts doing it again, this time he kept unbuttoning my pants and I would tell him to stop and button my pants up again.. (I knew I should have left then, I could tell he was drunk and not himself). He kept on and kept on until I eventually just stopped trying to make him stop and just laid there while he forced himself on me.. I started begging him to stop because I was hurting and he eventually did... he then started making fun of me as I was trying to put my clothes on as fast as possible. He was making jokes like “oh you couldn’t last longer than 30 seconds with me” “wait until I tell my friends about this”. But the one thing that I can’t get out of my head was him saying “you’re my girl now, no one else can have you” and “I knew the only way I would get you over here was to tell you I’d hate you”

I remember driving away crying because he was someone I trusted and thought of as a friend. But I honestly don’t know what to call that situation... I should have never went over there.. I should have left when I first had a strange feeling... I never should have trusted him...

He recently texted me on a different number saying “I was drunk af ur the one that came over I didn’t do shit to you”