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My bf came near my vagina!

My bf and I were "dry humping" and we were both naked from the waste down. I was sitting on top of him. He came and no semen got in me; but it got on me. It stuck to the pubic hair on top of my vagina. Luckily it didn't drip or anything and I wiped it off easily. (And no I didn't drag it down, I wiped upwards.) But I'm still scared! Can I get pregnant from this? I'm on birth control but I haven't been regular with it so my "2nd" period just went off. Should I buy day after pills? What should I do?

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