Did my boyfriend rape me?

I’m not entirely sure, I mean I’ve been through my share of sexual assaults and other things like that but I guess I just don’t know how to feel about it I mean he is my boyfriend after all. I told him I didn’t wanna like the whole time we are hanging out and he was okay with it at first. But like when I got there he wanted to have sex like immediately after like us going back and forth a little bit I reluctantly agreed and it went from there. After a few rounds we rested for maybe like 10 minutes before he went back to asking for more now I really put my foot down and tell him no, and I really don’t wanna. He forced himself onto me I didn’t really fight back after that I guess I let it happen. We didn’t mention it I wasn’t angry and he seemed that he felt bad after that I don’t think I mentioned it again for a while after that day. He did he told me he felt awful about it. I don’t know really I’m not angry at him, I don’t really know how to fee.