Is my BF (19M) an AH and should I break up with him?

For context me (18F) and my boyfriend have been dating for around 2 months. We haven’t had sex yet because I want to wait just longer until I feel ready. Me and him do everything but sex and everything was getting really hot yesterday and for a quick moment it went in and he took it right out. He said that he misread a sign saying he thought that’s what we wanted to do and the night before I said that I want to wait longer. He was very apologetic and sincere, usually when we do that kind of stuff he asks permission and asks if it is ok if he does something so it’s out of character for him. I really like him and I know he broke a boundary we set but I want advice on what I should do. Should I break up with him? He is a really nice guy but it was a kind of heat of the moment thing and he misread the signs. Any advice would be great thank you!