sexual assault or drunk mistake

Two nights ago I invited a friend of mine from 5 years ago to come up to my college for a big football game. We were once really great friends and have kept in contact but due to distance have not hung out in about 3 years. He came up and stayed at my place. We got back from the game/bars at around 3am and he immediately fell asleep on my bed. I didn't think anything of it at first. I wasn't tired yet so I invited my upstairs neighbors to come hang. We continued drinking and around 5 I made it to bed. I didn't want to wake my friend up cause he was sleeping and obviously exhausted and crawled over to the other side of the bed. At this point I was very intoxicated and everything from here on is a complete blur. 
I must have woke him up when I crawled into bed and from my faint memory I remember him coming closer to me and begin to kiss me. I don't know how or at what point but this led to sex. He knew i have a boyfriend that I have been with for two years. I didn't even realize what had happen until the next morning. I am mortified. I told him how terrible it made me feel and he kept telling me that it was fine I had a good time. He continued to express that it's not a big deal because my relationship is shit anyways. He said he wouldn't have pursued me if he had known I was blacked out.  My issue is, well everything that happen is an issue. My concern is that I was conscious, I didn't exactly put myself in a situation to prevent something like that happening, and I don't want to tell my boyfriend or even my therapist because I didn't try to stop it. I don't want to get him in some sort of trouble because I believe he was being genuine when he said he didn't know I was blacked out. He was sleeping therefore didn't know I continued drinking. This is a big shit show and I pretty much hate myself. Has anyone ever encountered a situation like this? Should I tell someone or my boyfriend or even my therapist? My therapist would have to report this if she believes it is of criminal worthyness.