Help!!

So basically me and a guy were grinding last night. He had on a lubed condom. We were basically very intensely rubbing genitals and the tip of his penis may have entered a bit. Afterwards, he swears it felt like sex but I think it was just grinding. It was also almost pitch black in the room.

Anyway, is that possible for a guy to mistake the feeling of sex if he’s grinding and he has on a lubed condom?

I’m a virgin and want to make sure!