is this assault?

okay so there was this one night where me and my friend where chilling at her house and she invited some guys over that we’re friends if ours. so me and this one guy cuddle up on the couch and we all were watching a movie. so he starts kissing me and then moves his hand down and starts rubbing my v over my clothes. I didn’t really mind it so i just let him keep going. he then slid his hand in my leggings and started to finger me and i don’t think he knew what he was doing cause i was in so much pain. i kept telling him stop and he kept saying “you know you like it” so i kept pushing his hand away and he started to get frustrated so he help my leg down with his leg and pinned my arms down so i couldn’t push his hand away. they eventually left and i was bruised in between my legs and it hurt to sit cause of the bruises. i told my friend what happen and she kinda laughed but is it my fault or did i give him the wrong idea?