Is it normal to orgasm without actual sex

I am a virgin and me and my boyfriend have been together for nearly a year, Were quite young. I have done things to him like give him h**ndj*bs ect, and he feels my fanny all the time. Once we were lying on my bed, he was on top of me and I had my legs wrapped around his back, his pants were down and his penis was out, we were snogging, ect. and as we were i could feel his penis rubbing against my fanny- i felt it harden and it really turned me on and then the rubbing got faster and i felt this great sensation it was amazing totally undescribable, im not sure if it was an orgasm but from what i've heard about them I think it might be, what happened?