Is it my fault??

I wound up taking a friend home from the bar last night and instead of driving home while I was falling asleep I stayed in his room. Before we went to sleep I told him nothing was happening between us (I was fully clothed). Next I know I wake up and realize my pants are no longer on me, I only woke up because I felt someone in top of me. At first I had no voice I was horrified and trying to comprehend what was happening. After I finally gained my voice back I tearfully asked him to stop and he did.... we both went back to sleep (I couldn't move) he got back on top of me while he was "asleep". I wound up getting out of there saying that my shoulder was killing me (I have 2 torn muscles) and then sat in my truck fir 45 minutes balling my eyes out. He says he's sorry but I feel like all of this is my fault and I should have never stayed...obviously I gave off the wrong vibe and now well....

Please give me advice to cope.