Is it ok for a 15 year old to sleep over at a 13 year olds, who are dating as a dare?

I have known my friend paige for 3 years and she is 13 and im just turning 15. We have had sleepovers lots since, I am a boy but she likes me and i like her since we have known each other a long time, And Last sleep over her younger sister (12) dared us to kiss, and we both agreed to it, and we did, then we went on a date to a nice restaurant, and then her younger sister told everyone in our school AND their parents, and all of our friends. Is it ok for a 13 year old to date a 15 year old boy? Their parents and my parents trust all of us, and we would NEVER go any farther then what we did that night for the dare. Are these sleepovers ok? Thanks, Dustin.