In need of urgent advice

Im 17, almost 18. My boyfriend and I have debated on whether or not we should incorporate sex into our relationship after a year and a half of being together.

I thought we would be both mentally and physically ready for it, but a few weeks back, we attempted to do it and it didnt work out.

We tried different positions but we never got to get in action. He just went half in. And of course, we used protection.

I've always been scared of incorporating sex into my early life, especially when my mom got pregnant at 16. I feel like a coward for it and that Im too overly worried about getting pregnant.

Since I dont talk about this to anyone (nor do I go to a doctor), I would love some help on this. Maybe it could ease my mind a bit. Should I be worried about being pregnant even if he got half in?