Did my boyfriend legally rape me?

I love him, but i've always been shy about sex. We were getting frisky and he pulled down my underwear, but i said no, so he went back to kissing me for a few second, but then he had sex with me anyway, and i was uncomfortable about it because i've always been uncomfortable about sex. And id said no just before but i didn't resist - but i enjoyed it a bit and it was nice. I've had sex before but never with him.