No.
Honey, you are wasting your time with this person. He has a lot of growing up to do and it is not your responsibility to help him. As a matter of fact, staying with him will only prolong his learning anything or becoming a better person. He may be incapable of rising above this anyhow.
Regardless- you deserve better! If you take him back, that is a clear indication of how little you value yourself.
If you end it now, it will be far less painful than later...and you'll only hate yourself if it happens again- and it will.
I'm sorry, good luck to you- be strong!!!! For you!!!
...and more specifically, I agree with Melissa as far as being drunk and using it as an excuse. Yes, your judgment may be skewed and it's possible to say something stupid or maybe even kiss someone- but sex is more than a momentary exchange. There are several opportunities for one to stop the act, while you are on your way to sex location, while taking off your clothing...I mean how can your mind be completely gone for that long! No- you still know right from wrong. lame excuse- he thinks very little of you, I'd say he actually forgot about you while he was drunk.