Should I cut him off?

I have a guy friend who, after I told him I wasn’t interested, decided that since I let him hold my hand a couple of times (I didn’t see the problem, I let my female friends hold my hand all the time) , that we were dating. I don’t know what to do because he was driving me home and we stayed a little later to talk to a couple of friends at a little get together. He decided it would be okay to grab me by the waist and start kissing my neck so he could show out to his friends. I really don’t know what to do.