This happened a few months ago but is something I'm still thinking about. We were sleeping in the same bed but I had made it clear that I didn't want to have sex and he was fine with this. I was wearing pyjamas (well, leggings and top) to reinforce this fact. When we turned the light out I settled on my side facing away from him and after a few minutes he scootched across the bed and starting nuzzling me. I warned him not to as it would be bound to turn him on and he would want it to lead to things but he carried on. He tried to take my leggings off but I told him this was annoying and to stop, same when he put his hand up my top. Even though I kept telling him not to, he held onto me quite firmly and started having sex with me. After a few minutes he could tell I was not really into it and stopped, but then lay there fidgeting and obviously not about to go to sleep as he was so frustrated, so I said he could carry on.
For a while he refused to admit that he had done anything wrong, saying that I hadn't used a special safe word we have used before, and that because I had let him at the end it validated the whole thing. I did see his point, although still wasn't that happy. But we talked about it again recently and now he admits that he was too pressuring and went too far. There was nothing violent about any of it and he is now very sorry he did it, and I think now actually realises what his actions could be called. At the end of the discussion he seemed pretty upset by this and so I told him it was OK.
Do you think it's possible to do something like that but really not intend it and to never do it again?