Does this class a cheating?

So I was at a party with my best friend and her sister (who is like my sister) and her boyfriend was dancing with me a little inappropriately but no the too bad. Then we walked home all together and we were at the back! He was carrying all of my stuff and was holding me around the waist! He then started holding my arse, then when his gf would turn around he would stop then put it right back! We got home ands he kept touching me when no one was looking and slept in the same bed (I don't really know why) where he kept touching me and cuddling me? Is this cheating?
Asked Sep 28, 2015

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