i’m kinda scared...

I know all of this is going to sound very unusual and weird. So me and my boyfriend obviously get horny and want to do things because we’re typical teenagers, but I don’t want to have sex yet. He gets that and is willing to wait but both of us still want to do things so we do find things and even kind of came up with some stuff. There’s this thing we do where I’m on my stomach and he takes his dick out and I am just in my underwear and he kinda just rubs against that area. Well the other day we did that (for a long time) and it started to get intense to the point where my underwear was caving in to my vagina almost and he never fully went in but sometimes it felt like he was just at the opening but my underwear was always in the way. I know it’s probably very gross that I did this but I did it to check, when I went home I smelt my underwear and I don’t know if it’s just me but cum from a penis has a different smell then cum from a girl. it smelt like penis cum. he did cum, but he pulled away from that area as soon as he was about to and did it somewhere else so that was not near there. he claims that there was no pre-cum or anything while he was near that area but it still scares me for some reason. My underwear was very thin and it was “ cheeky “ underwear so when all of this was going on it caved in so much to the point where almost my whole vagina was out. do you think i have anything to worry about?