Assault or not?

I'm going to tell the absolute truth in this because I need a clear answer. My cousin thinks I was raped but my best friend said it wasn't. Here's the story.

The first time I had sex with this boy, let's call him Niall, was in the 7th of March. He kept asking if I wanted to, and I said no. Time went on and he continued to ask and I said yes, but I didn't want to. It ended. I went home. Whatever.

He invites me over to play xBox with him on the 9th. I didn't play so I sat on his bed on my phone. He came over and sat next to me. We were talking and he started like touching me. He would put his foot in between my legs and touch my yknow there area with his foot which I told him to stop because it was a foot in my vagina and I didn't like it. He lied next to me and I turned away from him. He put his hands in my trousers and touched me. I told him stop, he said "Why?" and I didn't have a reason so he kept going. I did try and move his hand but it was clamped onto me. I didn't want it to happen and tried to move it but I enjoyed him touching me for the most part, but then he started cutting me with his nails so I really wanted him to stop. I tried to move his hand again but he thought I liked it and didn't want to cum or whatever so he kept going. He pulled down my trousers and put himself inside me. I didn't say no, but I didn't say yes. I didn't want it to happen, but it felt good.

Is it just regret or has something happened? I just want to know so I can move away from it. Honest answers please. I don't want my feelings spared here.