Years ago, when I was 19 I think, I was out drinking with friends

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Years ago, when I was 19 I think, I was out drinking with friends of mine, and we all got really drunk. We went back to their house and all went to sleep. It was me in a room with two girls, me sleeping on a mattress, but I ended up in the bed of one of the girls after a while. We were good friends, and me being really drunk and horny, I wanted to have sex with her. I made some moves but she (in a very friendly way) declined. Still yet we both ended up on my mattress later, and I grinded with my dick on her ass, with no penetration though. She never tried to stop me or to say no, and afterwards she went back to her bed and we fell asleep. The next day I felt awful about it and tried to talk to her about it and apologize, but she claimed to not remember anything from the night before and I didn't go into detail about what I wanted to talk to her about.
This bothered me for a while but I got over it, and I haven't thought about it for a while. But I was thinking about it now, and I wonder, was it rape? I certainly don't feel like it was, and if she had told me to stop I would have, but I still don't feel very good about it. What I also wonder is if she really does remember it and just didn't want to tell me.