I don't know what to call this....

Okay so I have posted something similar on here before but it happened again. So I touched my boyfriend through his boxers with my left hand for a while as he touched me. But I am right handed so I decided to switch. Now since I have a really bad short term memory I can't remember what hand I was using at the time but I can remember him being slightly wet, I think it was pre-cum or something, either that or he came. Also I gave him a blow job but nothing got on my hands. Anyway that happened at about eight o'clock ish if I remember correctly. And at about half nine, ten o'clock I used my finger to check my cervical mucus, I only touched the lip of my vagina, I didn't go inside me or anything. But my question is could I get pregnant from this? **Edit** also I am on the pill and have been for six months now **Edit** I swiped inbatween the vaginal lips