Is this rape?

Around 7 months ago, I was in a relationship for only around 2 weeks! I am a well respected girl. I don't like to think myself as "easy" and I had a boyfriend, that continually pestered me for sex. He would constantly touch me on my chest over or try to go under my clothes when I would tell him no. When we were in the car he would continually put his hand between my legs even if I tried to move away. He kept pushing sex and one day I was at his and he kept nagging and nagging for it. In the end after around 2 hours I just allowed it because I thought it would just shut him up and stop the pestering. He broke up with me the next day? I watched a programme about rape and it's all about consent..my question is was this rape? I allowed it to happen..I'm so ashamed of myself for giving in and allowing it, but I was insecure, and fed up with the nagging.. I've never forgotten that moment and it makes me feel sick thinking about it. I have no one to talk to about it, I'm so ashamed.