First time sex might have been rape.

So me and my bf were like getting into it and then we thought we could try having sex and I was a Virgin at the time and he wasn't and so he went in a bit and then I told him it hurt and he said he was almost all the way in and he kept going and then I said it hurts so I wanted him to stop and he didn't stop but after a little while he stopped and told me he only went half way. I wanted it but after he went in a bit I told him to stop and he didn't until like the third time I said it. So was it rape? We're having sex regularly now and we're happy and both of us want it but I'm just curious.