pregnancy scare help!

my cycle is 28 days long. I had started my period on a sunday and ended on the saturday ( it lasts 7 days). On the monday (cycle day 9) after i ended, me and my boyfriend were messing around. I got on top of him and our privates touched as i grinded on top of him, mainly shaft but the tip did touch a little bit. He had precum in his boxers before this and hasnt ejaculated in a while or that day, he did, however, go pee throughout the day. can i get pregnant from the precum being on my vagina without penetration? please help i am very stressed and scared which doesnt help that i am constipated from not eating correctly because of my stress (currently cycle day 17)