!!! help me please

My boyfriend and I were fooling around just recently.

What happened : we were rubbing our genital against each other. However we made sure that the tip of his penis did not touch my vagina throughout the whole process. So basically I was lying down while he was on me and I was rubbing my vagina on the "shaft" of his penis. No contact with the tip or the opening of his penis.

He did have precum however he did not ejaculate the few days before this happen so I'm assuming that his precum wouldn't contain sperm. especially since he’d peed before.