I am confused

I am confused about what to consider and feel about the 1st time I had "sex". When I look back on that day I know I did not want to do it necessarily and I did not actually say yes to having sex.

Heres the story (I'm confused about what to consider this): My ex boyfriend and I had been dating for almost a year at that point. I was 16. We were in his bedroom with the door open and his whole family home. We were cuddled up laying on his bed and touching eachother under the covers like we always do. But this time he kept begging to "put it in". I kept saying no, I don't want to do that here, Im not ready, your family is home. All that stuff, but finally I gave up and said fine whatever. Just put it in real quick, but you are wearing a condom. He put it on put it in and kept going, it wasn't just a quick putting it in. I didn't tell him to stop or no, but I didn't want it to happen. I don't know what this should be considered because I wasnt ready for that, but we had sex a few times after with me saying yes. Im just confused. But it happened like 6 months ago and we have been broken up for like 4. I am just a little haunted by it.