Was it rape? Assault? Need help

I'm 18 now but was 17 at the time. I was dating someone for a week and we had only kissed at the time. I told them what I was comfortable with and said I wanted to take things slow. I invited them over and we went up to my room and were kissing in bed. Things were going so fast I couldn't keep up. They kept taking off my clothes and soon enough they put their fingers inside me. I pushed them away but they didn't stop. I never physically said no but I did say I wanted to take it slow? Idk if that counts.

Was it my fault because I let them take my clothes off? Was I sending mixed messages? I never really thought anything about it but recently it's been upsetting. I'm scared to ask my friends and family so I thought I'd come here. I'm just not sure what it is and if I should be upset.