Is it bad that my boyfriend and I do this sometimes?

Sometimes he sneaks in my window around like 2 or 3 AM and we sleep together. Just sleep, nothing else. We've been doing this for a few months. My parents don't know we're dating and I've hid it from them for 2 years. I'm 16 & my boyfriend is 17. The most we do is kiss and I want to keep it that way. We both want to wait until marriage to have sex. Is it bad that we do this sometimes? I just like being close to him and lately I just need someone to talk to.