Sex on the first date.

Sooo I need ADVICE! so I’ve been talking to this guy for a while and we have hit things off amazingly! I couldn’t be happier we FaceTime a lot and text a lot to! We both have the mind set of doing this right! Yesterday was our first time hanging out in person. I knew he wasn’t going to stay since he lives an hour away and had to work the next day. It was so much fun and we hit it off instantly! We hung out for a several hours and then things started to get heated, kissing, caressing you know the deal. We both had said we wanna do this right and not have sex on the first date! We continued to get frisky and we would stop and calm down and then it would happen all over again start and stop and then we didn’t stop and ended up having sex....best sex of my life btw! We both enjoyed ourselves but I really like him and it was a mutual decision to have sex. But did we mess up by having sex or not? I’m panicking! Please helpppp