Is it okay that I lost my virginity at 17?

I recently lost my virginity on Feb. 2nd and I'm feeling a little guilty. I have always been told to save myself until marriage and my parents have been drilling this in my head since I started liking boys. I've been datin my boyfriend since Dec. 25th. and he is my first real boyfriend and ever since we've been dating they have been saying "just don't have sex." I understand where they're coming from because my mom was young when she had my older sister, who is 23 and still a virgin, but I really trust him and wanted to experience it with him. *I just wanted opinions from other women who lost their virginity kind of young, and if they think it's an okay thing or not? Is it wrong for me to feel guilty?