I need advice

So my boyfriend and I got carried away about 26 hours ago. He rubbed his penis on my butt and may have touched my vagina (from the back side he was in back of me) and there was something wet on his penis, there wasn’t very much but it was coming from his penis. I took 4 birth control pills yesterday the low dosage kind (I know stupid but I’m 17 and freaked out) I was wondering if it is safe to take plan b tomorrow, just in case. Or if I should or not. I had missed 2 pills a few days ago. I should mention that I had cheekster underwear on.