No penetration but still scared

Talese
Hi I've never really said anything on here but I'm scared and would like answers. I'm 17 and I'm terrified to ask or even tell my mom so last night I was with my bf and the underside of his penis touched my vagina but there was nothing on it and he says I'm worrying too much and that everything will be ok but I'm scared. I had been on birth control I missed a month but I took one yesterday morning around 11:50 Ik it was late and this morning I took the second one at 7:30. Am I safe from pregnancy or do I have something to worry about because I'm so scared?! Please help!!!