Hand jobs!

How do I ask my boyfriend if what I did was "good"? We were making out and it got intense and I had my hand on his pants at first, then under them but over his boxers, but eventually in his pants. I was rubbing him but couldn't that well because of the position and I'm not sure if he liked it or not, how do I ask him for help on what to do and if it was okay? First time😬😂😂