please help me

Ally
okay so my boyfriend and I were chillin and he's on top of me in push-up position and I was naked but his boxers were pulled down. I felt it against my leg and I felt ...juices... but idk if the tip was in?? I don't even remember?? It was a few hours ago do I get Plan B??? We didn't have sex I'm not on the pill there was no condom HELP AM I BEING OVER PARANOID