Is this considered rape?

Last night, I was horribly drunk and needed to go home. My friend told my other friend to take me home, and he did. But because we live in the same complex, we went to his place to lay down. Immediately he just started stripping me down. I said I just wanted to sleep but he wasn't listening so I just gave in. I mean it didn't necessarily good but I wasn't pushing him off. At one point, I was just laying there. I don't think he realizes how his intentions came across. We /were/ best friends so he knew I wasn't into casual sex, so i'm not sure if he cared.