Is same hooking up cheating?

i have a boyfriend. me and my friend got too drunk last night and hooked up. we went down on each other and rubbed against each other and made out. i have NEVER done this with ANY girl before and now i realize im definitely NOT or a . it didnt turn me on really and it made me miss my boyfriend. i didnt consider this cheating or thought it could even be cheating and i told my boyfriend right away thinking he'd joke about it. he was upset but he forgave me and said to not do it again (i dont ever wanna try it again.) i think i just wanted to get it out of my system? but now i know i definitely dont enjoy it and wont ever do it again..... is it really cheating? did i make too big of a mistake for my boyfriend to forgive me? i vowed this relationship would never be tainted and if it was i would break up with him but.... ive never loved a guy more than i love my current boyfriend.. what should i do..... especially if HE is fine with it and doesnt wanna dump me and says its not a big deal?