woke up to my bf playing with me, is this rape?

we had just finished sex and we were off to sleep, I slept on my back and then I remember waking up again after some time and he was on top of me, fingers inside me. I felt shocked and vulnerable as we hadn’t discussed this. If this is something that turns him on then he could’ve told me but I felt ambushed. I still doubt my memory because it was in the night so sometimes I think, was I dreaming? But I remember the fear I felt when I saw him over me, so it can’t be? I think after that I maybe just kissed him when he realised I was awake but I know that I didn’t like that