Rape?

Okay I see this a lot but I'm confused 
I was seeing this guy and I went out with him just to talk to him about how I don't think he treated me the way I wanted 
I told him no sex very clearly 
We were in him car and he got me in the back I stayed furthest away from him 
I said no sex very clearly but I let him finger me because he wanted to 
Again I still said no sex but he tried anyway and got on top of me even though I was saying no trying to stay calm and he still had sex with me even though I kept saying no
I went home and cried afterwards 
I feel like rape is too strong a word and don't feel like I deserve to call it that 
Was this rape 
Sorry it's long