Is it Possible to get pregnant from dry sex (rubbing etc.) ?

I was making out with my boyfriend the other day and his genitals came in touch with mine.... But even though Ive had clothes on, I am scared that he'd have came when he was close to me and that his sperm swom through the thin fabric of my clothes into me....  
Could that possibly happen? 
(I took the plan B pill like 7h after that incident but I am still veryyy paranoid) :(((( 😭😭😭

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