help!

okay so ik the chances r small but im stressing

i was on top of my boyfriend naked and he was in cotton underwear. we were dry humping, he did not finish when we were in this position, but when i got off him i noticed his underwear was wet and he said it was from me so i didn’t think much of it in the moment.

later on i don’t remember if i was wearing my thong or not, but he was on top doing the same thing as before still with underwear on and not finishing.

is it possible for me to get pregnant like this?