Thank you for your question.
No, there would not be any trouble, but only because the two of you are close in age and both consented. Pennsylvania's age of consent
laws make allowances for adolescents who are under the age of consent, but close to the same age. Anyone between the ages of 13 and 16 can consent to have sex with anyone else who is no more than 4 years older.
Other states are not necessarily as kind (because generally, as a minor, you cannot consent to sexual relations, and your parents approval wouldn't mean anything legally)- but given where you live, you should be okay.
Pennsylvania does have a "corruption of minor" statute:
§ 6301 Corruption of minors.
(a) Offense defined.– (1) Whoever, being of the age of 18 years and upwards, by any act corrupts or tends to corrupt the morals of any minor less than 18 years of age, or who aids, abets, entices or encourages any such minor in the commission of any crime, or who knowingly assists or encourages such minor in violating his or her parole or any order of court, commits a misdemeanor of the first degree.
However, normally this statute is charged in conjunction with something else - e.g., if your boyfried got you into using drugs, and you were caught using, he could be charged with "corrupting" your morals. It is very unlikely he would be charged where the sex was consensual and you are so close in age.