Grinding on bf while we were both asleep

So recently I had seen some posts about couples have sex while they were asleep and I was like wth there’s no way that’s possible. But last night while we were asleep my boyfriend grabbed me to get on top of him and I started grinding on him. He doesn’t remember at all but I faintly do. He never remembers anything that happens while we’re asleep tho. It was so weird but now I know that it’s actually a thing ahahah