Is it normal to have a relationship with my teacher?

So I had this teacher last year who I really liked. Not only as a teacher but as a person. More than a friend. And I could tell he liked me too. I was 18 (senior year). A couple of times we were alone together, either tutoring or just happened to be the only two people there. One time I didn't have enough money to get home on the train so he offered to drive me home. Before I got out of the car, he turned my head towards him and kissed me on the lips. It was nice. A few weeks later I stayed after for extra help and before I left he kissed me again, this time he had his hands on my hips. The most recent time was after a cheer practice I was in the showers at school. I take really long showers so I was the last one in the locker room. When I turned the water off I heard the door close and lock. I grabbed a towel and stepped out of the shower. It was him I didn't know what to say and he walked up to me and we started to make out. It was so good. He pulled my towel down just enough so my breasts were visible and he squeezed them and pinched my nipples. We continued to make out until I said it was getting late and told him to leave so I could get dressed. Is it okay to be in this kind of relationship? By the way, I was 18 and he was 29. We talk regularly and now go out on dates.