Help me

Can you get pregnant if your boyfriend rubs/humps your genitals with his penis? If so, how likely is it? There was no penetration. He did put the tip to my vaginal opening and pressed a bit but he never penetrated. He made sure there was no precum. He never ejaculated either. I am on birth control and have been for two months. I'm pretty sure I'm okay, but I always worry. And the pills make it worse. Thank you.