Hey there.
Is it possible you didn't have penis in vagina intercourse? It is. But it's also possible that it didn't meet your expectations of what that would feel like. This is one of those things where it's going to be hard to say and where it's probably only going to be something you know after some more tries.
That said, one thing we really need with a sexual partner for them to be okay for us as a sexual partner is to be able to talk to them about the sex we're having. So, if this is someone you don't feel comfortable having conversations about the sex you're having with them with, it may be that a) they're not a great choice of partner for you, b) you two may want to step back and work more on getting to that place first, or c) maybe you just need to take a positive risk of talking to him about this and see how it goes. (If it makes you feel any better, this is the kind of conversation I had with the first person I had consensual sex of this kind the first time with:
Is THAT All There Is? -- you'll see that even conversations where both people are like, "Well, that was a whole lot of nothing!" can be had and go just fine.)