Two years can be short or OK - it depends on your age and dating experience. If you're 21, then you have limited experience in relationships and it's not nearly long enough to get to know a guy. If you're 40 and have had numerous relationships and have learned through experience what you want from a relationship, then it's not bad at all.
I used to know a girl who wanted commitment before moving in with a guy. Twice she got to the stage of being engaged before moving in. One engagement ended and the other ended in divorce. Thing is, her approach was effectively pushing a guy into making a commitment before he was ready.
Anyway, the most important decision to consider if you want marriage down the track is "is marriage important to him?". If it is, then he's likely to propose later on. If marriage isn't important to him - then you're likely with the wrong guy anyway.
Never regret anything that has happened in your life. It cannot be changed, forgotten or undone. So, take it as a lesson learned and move on.