I'm trying to figure everything out😬

I'm quite young, I'm in 7th grade and have a boyfriend who I've been with for almost a year. We've both decided not to have sex until we're both ready, and we want to be smart about everything for a few years. Like, I have masturbated, but I'm ashamed of it, and I have a huge fear that he's gonna find out and hardcore judge me. Every time I do I feel this instant regret, and tell myself I won't do it anymore because, well, I'm still in middle school. But I haven't lived up to it? If that makes sense? I just need help with making sense of everything and if what I'm doing is okay?