Is this considered cheating?

Hi everyone! A little background, I have been in a long term relationship with my boyfriend for almost 2 1/2 years now. I’m 20 years old and recently took a trip to Washington for school. I sat next to a guy friend whom I talk to frequently (my bf didn’t go on the trip). He too has a gf. On this airplane flight, he let me rest my head on his shoulder and his on mine and we both fell asleep. Nothing else happened, and have no history with each other. My bf doesn’t get jealous or mad when I hang out with other guys so i don’t know what to think of this situation? Any insight would be helpful, thanks in advance for reading this!!

TLDR: Basically want to know if what i did is cheating or if that was something that was fine.