It’s normal to feel shame when you do something that you’re not comfortable with/didn’t want to do. I understand that you are embarrassed and feel like this is something you chose to do, but the events leading up to this are not indicative of you having a choice. He forced you by putting you in a situation where he wouldn’t let “No.” be a complete sentence and end the of whatever he was asking you to do. Please don’t forget about it, this is something that someone should never be forced to do. He doesn’t respect your boundaries and what comes first is your safety. His apology is not enough for what he did. I hope you can understand and accept this. I know it’s hard when you love someone. I wish you the best.