Was I assaulted ? Or am I overreacting?

So i (18f) went out last night for Halloween, I have this friend (19m) who likes me , we flirt but ive made it clear I don’t want to be with him ,he came over last night because he didn’t have a way home and I told him I didn’t want to sleep with him

It was fine nothing happened and I fell asleep, I then woke up to him grinding on me and kinda touching me up, I didn’t know how to react so I kinda just froze , before he left I explained to him that I like him as a friend but I don’t like him like that , before he left he grabbed my neck and tried to kiss me goodbye which I said no to , tried to hug him and he kissed me cheek

Is this assault ? I feel like it’s probably my fault for flirting with him but I don’t really know how to react and I’m very confused