Non-traditional "sexual" aspect of incident?

Fair warning for talk about feet. Please ignore the burner account.

My best friend and i were hanging out a few hours ago. A year or so ago i told him about how I have a thing for feet- No big deal, he doesnt get it, whatever. Fast forward to this night, he wouldnt stop rubbing his feet on me, shoving them near my face, trying to touch mine. I told him stop (in a light hearted tone I guess, not firmly) and i moved away from the unwanted contact each time it occured. He didnt ask first.

I don't know if this counts, because it could be easily passed off as just playing (no genitals or sexual organs were involved) But he knows that its a sexual thing for me, he did all that while already knowing this.

I don't know what to do. Either way it made me feel very uncomfortable and gross. This was just a few hours ago. I've known him for 4 years and never once thought he'd do something like this. Anything helps i guess.