Which is correct:了 or 过 in 我去。。。他家，知道他住在哪里 我去。。。他家，知道他住在哪里.

I do not know what to choose in this sentence: 了 or 过. In my opinion:
(1) 我去了他家，知道他住在哪里. (I had been to his house)
(2) 我去过他家，知道他住在哪里. (I had had the experience of being in his house)
Question: Is what I think correct? If wrong, please explain it to me.
了 indicates the verb is 'completed action'
过 indicates the verb is 'experienced action'
我去过 他家，知道他住在哪里.  (I had gone to his house before,  so I know where he lives) is the correct one
去过 = had gone before
去了 = have gone to