AITA for bringing my boyfriend home and then immediately leaving?

I'm a 20 yo female and I live with my parents and my boyfriend lives in another city 300 km away. I visit him almost every weekend (its a train ride), but the last weekend he told me he wants to visit me. I said okay but I didn't really like that idea because I can't be myself in my parents house and I would feel weird if he visits me and we have a separate room. Also my parents would flip if they know that we are sleeping together. We are together for 5 years btw.<br><br>So he told me he wants to spend time with me without having to drive and pay for a ticket so I shouldn't complain about it. I told him that I don't like it because he will be in my parents house and my parents will be weirded out by it. He said it was fine and that he can sleep on the couch in the living room and I can sleep in my bedroom alone.<br><br>So he came on a friday and I brought him home. I was in the car for 6 hours to bring him to my city and get back to his city because I told him I would spend the weekend with him instead of him coming to my city.<br><br>When I brought him home to my parents house I immediately left and got back in the car to drive back to his city. My parents called me and yelled at me that I have "no shame" and that I should have spent the weekend with him. They said I was rude to bring him and leave immediately. I think it was a nice revenge because he wanted to spend time in my city just because he didn't want to pay for a ticket.