Today i was in bed at home with my bf (we've been together for about 2 years), and he kept feeling around my vagina and ass even after i asked him not to. I gave up and just agreed to let him do it since i was exhausted from work a few hours earlier. Then he proceeded to insert his penis into my vagina and attempt to have sex with me from behind. He had it in wrong and i told him no and to stop but he didn't and i stuck my hands out to push him away and it wasnt until i smacked his arms away that he stopped. He insists that he didnt know i wanted him to stop and keeps apologizing, but i dont know what to think. Is this sexual assault/rape?

Update: I agreed to let him touch me, not have sex. I've recently been experiencing vaginal pain during sex and have seen a doctor so my bf is aware that i have not wantef to have sex lately. He penetrated me without my permission, but is it my fault for even letting him touch me?