Is this rape?

When I was 16, I was in my first relationship with a guy. And it was very emotionally abusive. But at the time, my dad was very physically abusive, so I kind of convinced myself that I needed a boyfriend. But anyways. When I was 16, we were planning to have sex for the first time. (Both our first times). And we had been planing it, and I "wanted to". And I got to his house, and he basically said that if I backed out of having sex with him, that he would tell everyone about my dad. And at the time, I didn't even think anything of it. Because in my head, I obviously wasn't gonna back out. But now thinking about it, that was very wrong of him. And one of my friends says that's rape, and I was wondering how anyone else interpreted it. I don't regret it, to be completely honest. And I don't hate him, and I'm not mad. It's four years later, and I kind of just think of it as an experience. I don't think I would change it if I could either. Maybe that's naïve of me. But I would like to hear how someone from the outside looks at it.