Don't know what to do

So today I had sex with my best guy friend, it was lovely because of how in love with him I am but now it's gotten awkward. He stopped half way through and said 'crap my dads room is downstairs I think we should stop' after this had been happening for over and hour. Then afterwards I'm just sitting there being quiet bc I think I must've done something wrong and he just says 'this is the only time this'll happen' and that hurt my feeling a lot. I don't know whether to talk to him about it or just pretend it didn't happen.  ): I need help