Need support & reassurance please 🙏🏾

Back to nearly a month ago i did some thing with a friend of mine. we are not officially dating yet..but we went out for a car ride that night and we got a bit intimate. We kissed and he ran his hand down my vagina and rubbed it ( didnt finger me) i know that for the moments we were together he didnt touch his penis (maybe he could have touched it on his jeans or pants somehow idk) nd it did not last long.. can i be pregnant? i dont know what i will do if that happens to me