My boyfriend stayed inside me for comfort is it normal?

I am gay, and have had a boyfriend for nearly a year now.
We love each other very much and have had sex several times, we are completely comfortable with each other.

But the other night he did something really strange and I don`t know what to make of it.

For years I have suffered with depression due to family abuse, my boyfriend knew this before he got into a relationship with me and was fine with being my support. He is my rock. He moved me out of my home and we now live together quite happily, but sometimes I do get depression spirals since the disease doesn`t just disappear.

He is so supportive, he holds me or hugs me and tries to cheer me up until I stop crying, or pulls me onto the sofa with a blanket and just cuddles me. This has always been the norm.

The other night, I dropped again, but for some reason this was worse than the others. I was crying horribly and his hugs didn`t seem to help. .

So my boyfriend proposed that he comforted me in the utmost way he could.

Without really saying much he stripped us both down until he were both completely naked, and prepared the necessary things for him to put his penis inside me just like sex. But instead of thrusting or actually having sex he just positioned me on his lap and pulled me in tight so that we were snuggled close, skin-to-skin, and held me.

It was unusual to say the least. It stopped me from crying but I`m not sure if it was the shock or if it was actually comforting.

He said it was so that he could be as close to me as possible, so that I felt safe. But I dunno, it felt very odd and strange.

Is it normal for someone to do something like that?