Is this rape ??

This happened Like two years ago So me and an ex bf was chilling in his car and he get to kissing on me and touching on me and pull off i forgot what i was wearing but he pulled it off and that’s when he tried to put his penis in so I’m like no stop and he continued to and that’s when i stopped saying it and let him have sex with me and then when he was done i just got out his car and went back in. And i explained to him the next day like i don’t wanna chill with you no more i felt like you force yourself onto me and i said stop. And every since then i haven’t chilled with him.