confused but yes

So my boyfriend came over for a few hours and he was getting Abit too excited ..... he took my joggers off me had me in all sorts of positions .... started fingering me round 1,2 then round 3 he had me wanting SEXXX (Baring in mind we're both virgins)!! We both we not prepare for this and we didn't have a condom on us, so we left it with us both being extremely HORNY. Do you guys think we should've or nah ?