Meh, I mean... I don't see where you gave consent for him to do that anywhere in this post. I'm hesitant to use the word rape because it carries such a heavy connotation, but the fact he tried to do you in the butt (forcefully) without asking isn't ideal.

I understand being in the moment and making a mistake. Even more so when you're saying y'all like to do it rough. He apologized, as he should have. I wouldn't get so caught up in calling this rape, but don't discredit yourself. What he did wasn't the smartest or most respectful decision, he did escalate the sex without your consent. But if you believe he understands you weren't okay with that and he's genuinely sorry, I think y'all have squashed it.