Was I raped?

When I was 16, my boyfriend at the time was a very manipulative guy. He and I had not had sex, however we did other things so his needs would be satisfied. I was a virgen and had made it clear I wanted to wait until marriage to have sex. One particular day, he wanted to mess around like we had been and when I said no, he became upset. I gave in, not wanting him to continue to be upset with me, but made it clear to him in that moment that I did not want to have sex and he agreed we wouldn’t. Once we started doing things, his penis became very close to my vagina. I panicked and froze, unable to say anything. He then proceeded to have sex with me, because I didn’t say no. I have been struggling with this since it happened. Is it considered rape if I didn’t say no while it was happening?