I am incredibly confused?

I'm 16 and last night my absolute best friend, whose a boy (I'm a girl) slept over at my house. I have a king single bed and we got in it to watch a movie, a scary one. We snuggled up while we watched it and then when it was over I turned off the TV and we just lay there. I was tense and we listened to each other breathing.... It was late, by the way, my parents were asleep in their bed up the other end of the house and my brother and his girlfriend were just chilling watching TV in their room. We were fully clothed but started wrestling and being stupid and we ended up hugging with his head nestled in my neck. It definitely wasn't a friendly innocent hug anyway. Anyway, he was wearing jeans and said they were annoying him so he slid them off. I laughed and said kinda flirtatiously that my top was too hot so I took it off so i was in my bra. Then he took off his tshirt so i took off my pants. now we just had underwear on and my bra. we were snuggling and it was really tense, it was so good to be so close but i was freaking out this wasn't what friends did! i casually rolled over so i wasn't facing him and just as i was thinking of getting out of bed to get dressed he reached over and flicked open my bra. i laughed and held the cups back over so i didn't expose myself. he gently was tugging at the straps and i found myself pressing against him again. i came to my senses and laughed and slapped him away and reclasped my bra and pulled my pyjamas back on. i threw his to him so he had to get dressed again. that night we slept in the same bed which kinda freaked out my parents although i ured them nothing happened (cough). the next day, there was no awkwardness and we just went about our business as usual, watching tv laughing talking, etc. it's almost like he likes me except we've been down this path before of kind of liking each other but not, back and forth and it's never worked. what do i do, i feel so confused