too early?

yesterday I went out to drive with my dads co worker, who is around my age and suddenly, we flirted hard as hell. He’s telling me risky things and Suddenly we’re kissing, and he’s feeling me up, his hand on my breast and rubbing me between my legs through my jeans . We went to the backseat and I blew him, and he fingered me and I squirted but he didn’t cum, it was getting late and I was scared my parents would be suspicious of me and him. I feel like it’s too early for the both of us to do something so dirty, it was so unlike me. I’m usually so shy and reserved but I lost myself last night and I feel a little dirty. Is it normal to be a little freaked out about sex ? I’m sixteen and he’s 18, by the way. He kept asking me if I wanted him to put it inside of me, and that was the uncomfortable part, but he was reassuring me that he wouldn’t make me do anything I didn’t want to. I like him but I don’t want a relationship right now because I have so many options and to be honest, sex is kinda scary now that I think about it . I used to fantasize so often about it but now that I was so close to doing it with somebody I don’t even love, it made me think long and hard about it . We went home after cleaning the car up of the wet spot and my mom looked a little unsettled but my dad seemed perfectly fine as if it wasn’t evident we got intimate in a fuckin’ Mazda. He hasn’t talked to me since last night and I feel like he’s upset he didn’t get to orgasm and I did. My nerves were in the way and I was scared we would get caught ... I just don’t know what to do .