Is this legal?

I was dating this boy without the knowledge of his mother. His mother found out and said she wanted to talk to me. I did and she told me it was considered harassment even though he asked me out. This happened once before but we got back together. Is it illegal to date someone if their guardian doesnt want them to? We’re 16 so I thought it’d be okay and hes such a sweet boy so I dont want to let him go. I was just wondering if there were any loopholes in laws that she’d see through or anything like that

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