Bestfriends Boyfriend feeling me up, do i confront him about it?

Okay, so last night i went camping with a whole bunch of friends including my best friends boyfriend who also happens to be my best friend, she wasn't there but me and him ended up crashing in my car like the seats were down so it was just like a big bed... at first i gave him the blanket to share with me and he was like no its fine kinda thing but then after like 5 minutes he grabbed the blanket and then after that i was just laying there and so was he and hes like you cant fall asleep and im like im not im just thinking.. which i was. And then he slowly like started to touch my legs at first just like lightly grazing them but then like full on rubbing them and i didn't know what to do, and im pretty sure that he was while doing this... obv from the noises and the shaking of the car. I was drunk and didn't know what to do at the time i didn't go further then that and then he drove me home today and i don't know if i should say something or just let it go, i mean nothing happened.