Will I become pregnant from this?

Im 17 and was raised in a very strict family that was always driving the fear of pregnancy i to the heads of me and my siblings.

Well they have become less strict yet that fear they put in my head still stays... Well let me get on with the question lol. I swam today with my boyfriend. I wore a one piece with swim shorts over top due to I don't really like my butt on display lol and he was in just swim trunks. We hugged and kissed and he held me with my legs wrapped around his waist and my crotch resting against his ( Still fully covered by our bathing suits )

Well when I got home I got straight into the shower and washed my hair and my body and my vagina because the chlorine water makes me itch down there. I washed my vagina first so I didnt get soap down there and I cleaned by letting water run over my vagina while I inserted my finger inside the vaginal canal to just wash thoroughly.

Then right after I got out of the shower I called my boyfriend and we masterbated together over call and I fingered myself completely naked in my bedroom floor.

You may be asking yourself " Ok why are you scared? "

Well im scared because while I was over at my boyfriends swimming he did get hard and stuff from seeing me in my bathing suit and well he was just hard from me kissing him lol you know how teenage boys are. I NEVER touched his bare penis and he NEVER touched my bare vagina. He did grab my butt but it was ontop of my shorts. Like his hand was ontop of my shorts when he grabbed my butt lol im sure you know what I mean im just nervous

And im scared that while he was hard perhaps some sperm from his precum could have gotten on my hands and when I went home and showered I could have gotten sperm into my vagina where I cleaned there first and then im scared I got sperm in my vagina when I masterbated because I was knuckle deep when I fingered myself.

And Im just scared Ill become pregnant

Can any of you lovely ladies help me through this? Thank you!