Was I sexually assaulted?

[elizabeth]

So last night I went out to have dinner with a group of friends. In the group there were some people I knew and some that I had never hung out with before. There was one guy who kept creepily staring over at me, and at first I didn't take much notice to it, but it wasn't just a quick glance it was like an intense stare. So when we left (he was the one driving) we were dropping everyone off at their houses and then I was the last one left. He drove to this dark parking lot and told me all this creepy stuff, like how he really liked me and he wanted to date me. He said the phrase "you're such a beautiful girl" probably every other sentence, which I found very strange given the fact that we had never talked before. This entire time I'm just sitting there in shock thinking what the hell is happening right now?
So when he told me that he wanted to kiss me I felt extremely uncomfortable (as I had never kissed anyone before) so clearly seeing the shocked look on my face he asked me if I'd ever kissed anyone before and I told him that no, I hadn't. He then proceeded to turn the car back on and drive extremely fast to this creepy deserted wildlife preserve type forest parking lot. At this point it was probably around 8:30 at night. He then turned on these weird strobe lights in his car and pulled me towards him and continued to basically shove his tongue down my throat. While all this is happening, I had a feeling that I should pull away and slap him, as I was extremely uncomfortable but in the shock of the moment I was just frozen and didn't know what to do. He then came around from his side of the car to mine and crawled into the passenger seat with me. He then put me on his lap and proceeded to touch my ass and then my private area over my pants. I wish at that point I had said no get off of me and I feel so much guilt and embarrassment for not doing that. He then tried to finger me, and as he was playing with my belt, I pushed him away and said that I had to be home soon. He laid his head onto my breast and got up and drove home. After that I was literally shaking and couldn't control my body I was so petrified. When I got home later that night I just happened to check facebook and he had put our relationship status and in a relationship. I am just so incredibly creepy out and honestly scared right now, I could really use some advice or clarity on the situation. Was this sexual assault? Help! Sorry this was so long...