Is there a difference between a peck and a kiss?

Yesterday I had my first kiss ever but I am a little confused ahahaha I need some help. So what happen at first was that my lips were closed and I was going for a peck but when our lips met his was a little open and his tongue wasn't out but it was there. I got nervous because i didn't know how to do that or what he was doing. Then we was like lets peck or something as we pecked twice. The second peck was a little longer. What is the difference? What was he trying to do? What does an actually kiss entail? or I don't know Im confused ahahaha
Is there a difference between a peck and a kiss?
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