It doesn't sound like rape because you were messing around, and in the situation where he had a condom on that you had seen, and you were not saying no or fighting him off. You say "I felt him go inside me," do you mean the tip of his penis? Because if you are a virgin it seems like you would use different language if his penis penetrated you fully. If you were messing around and he had his penis out with a condom on, it wouldn't be surprising if the tip of his penis found his way to grind on you and tip slipped in, but it would be surprising if you didn't resist if it went all the way fully into your vagina. I'd guess that it would probably be characterized as heavy petting with some contact, versus rape. You do need to speak up, you know.