If your boyfriend was in the wrong about the dispute, he needs to make a formal apology to all parties who were involved and/or affected by it (and this would include saying 'I'm sorry, 'I was wrong', and 'What can I do to make it right' because an 'apology' means different things to different people). Even if he WASN'T wrong, he would prove himself as a really 'BIG' man to offer an apology, anyway! It might hurt his pride, but the after-glow is incomparable with any feeling on earth!
Anyway, it sounds as if you are happy with him, and that is important. Your relationship with your biological family is equally important. If you feel that your boyfriend was completely in the right, you need to tell your family that you want them to be involved in their grandchild's life, but if baby's daddy isn't welcome, then you and the child aren't either -- and don't take the baby to their house (but allow them to come to visit at the hospital and at your house). It's not going to be easy or fun whatever you do, but this is important enough that the 'guilty' parties SHOULD feel a little discomfort about if it is going to be resolved.
Each of your previous responders are 'right on', too! I agree with everything they've written.
Good luck and God bless!