Can you get pregnant from dry humping ???? Please read

Me and my boyfriend have not had sex yet but we have done almost everything else. He was on top of me and I didn't have any clothes on, he had only underwear on. He did cum but in his underwear. I've looked it up and it says if it soaks through it's possible, am I worrying for nothing ? I'm only 15 and I can not be pregnant, my family does not have the money and my mom is pregnant right now, they are struggling to find a way to afford that even. I'm so scared, am I over reacting ?